KH3 LRF User Manual - K
Contents
1. _KHIII LR user MANUAL Kream Version 1 0 becember 209 C Documentation Author Fr d ric Lambercy Julien Tharin K Team S A Rue Galilee 9 Y Park 1400 Yverdon les Bains Switzerland S SS SS SS LEGAL NOTICE e The contents of this manual are subject to change without notice e Allefforts have been made to ensure the accuracy of the content of this manual However should any error be detected please inform K Team e The above notwithstanding K Team can assume no responsibility for any error in this manual TABLE OF CONTENTS 1 INTRODUCTION 1 INTRODUCTION S The hardware of the Kheperalll is based on a modular concept The LRF is a turret that can be plugged on the robot only if a KoreBotII is already plugged Due to the configuration of the LRF other turrets cannot be plugged on the top of it The Kheperalll LRF turret was designed to adapt the URG 04LX UG01 from Hokuyo This module is a laser sensor for area scanning The scan area is a 240 semicircle with a maximal distance of detection of 4m The sensor retrieve one measure each 0 36 682 steps exactly For more information about the sensor please look at the sensor specifications here The Kheperalll LRF is equipped with a Li Pol Battery to keep the autonomy of the Kheperalll robot at the same level as without an extension This battery must be charged with the same charger as the Kheperalll robot This extensi2. Figure 2 2 Overview of the Kheperalll LRF 1 Power input connector 7 Li Pol Battery 950mAh 7 4V 2 Charge complete Led 8 URG 04LX UGO1 sensor 3 LRF connector 9 Mini USB cable 4 Charge in progress Led 10 Fixing PCB 5 Serial connector not used 11 Main PCB 6 KB250 extension connector 12 Mechanical spacer Kheperalll LRF User Manual rev 1 0 3 2 THE LRF EXTENSION 2 3 LRF sensor assembly If you have purchased the LRF extension without the URG 04LX sensor here s the step to follow unscrew the four screws on the top of the turret to unmount the fixing PCB mount the LRF on the TOP of the PCB face where the indications FRONT amp BACK are visible Respect the orientation of the sensor as shown in the picture above Kheperalll LRF User Manual rev 1 0 2 THE LRF EXTENSION Use the two holes indicated in the picture below to screw the sensor LRF mounting hole Figure 2 3 Mounting hole for the Hokuyo sensor Mount the fixing PCB with the sensor on the Main PCB of the turret and screw it Connect the mini USB Micro MaTch cable between the sensor and the Main PCB You can now mount your fully assembled turret on a Kheperalll to use it Kheperalll LRF User Manual rev 1 0 5 2 4 2 THE LRF EXTENSION URG 04LX UG01 sensor specifications Light source Semiconductor laser diode A 785nm Laser safety Class 1 IEC60825 1 Power source 5V DC 5 USB buspower Current
3. you can cut the supply of the sensor in your application Refer to Chapter 4 to know how to do it The charger is not provided with the LRF as it s the same as the Kheperalll Robot To charge the LRF battery you must use the same charger as the robot and connect it to the power connector see n 4 in the overview The red led n 2 in the overview will turn on to indicate that the battery is in charge As soon as the battery is completely charged the red led will turn off and the green led n 3 in the overview will turn on You can charge the battery even if the LRF is mounted or not on a Kheperalll The battery can also be charged if the Kheperalll and the LRF are turn on The only difference will be the charged time It s faster to charge the battery when the robot is turned off than the opposite Warnings Do not hot plug the charger on the LRF when it is in use This may cause some errors with the PC communication Use only the official charger provided with the Kheperalll robot to charge the LRF Kheperalll LRF User Manual rev 1 0 7 3 CONNECTIONS 3 CONNECTIONS o Assembling and disassembling additional turrets is a delicate operation Try to avoid it as much as possible and perform it carefully Please follow the instructions below to avoid damage to your modules K Team can assume no responsibility for any damage caused by improper manipulation 3 1 Assembling Assembling is the easiest operation b
4. LRF module on a Kheperalll equipped with a KoreBotll Connect the Kheperalll to a computer using a KoreConnect and a serial cable or with ssh see Kheperalll and Korebot I user manuals Open a terminal on your computer and turn the robot on Once the login passed run the klrf_test program by typing kIrf_test If it is not yet installed on your KoreBotll follow the step in the section 4 1 Type the command rfinit and push the RETURN key It should return the model the motor speed and the connected port as follows model URG 04LX Hokuyo Automatic Co Ltd scan_rpm 600 URG is detected port dev ttyACM0 Type the command rfmeasure 0 and push the RETURN key gt It should display continuously LRF data in a x y graphic and you should recognize the environment shape around the LRF module Push anykey then type the command exit and push the RETURN key This will close the program If the LRF does not correctly perform this sequence of actions please contact your local dealer More commands are described in the section 4 2 Kheperalll LRF User Manual rev 1 0 9 4 PROGRAMMING THE LRF 4 PROGRAMMING THE LRF Mage The LRF is an extension that can be used only with the KoreBotlI mounted in the Kheperalll That means that the KoreBotll controls all the functions of the LRF As all the KoreBotlI extensions a library including all the available functions is provided with the libkorebot version 1 17 or greater If you
5. already have a libkorebot installed in your computer but with an older version you can download the latest version with the following link htt ftp k team com KorebotII software common libkorebot libkorebot VERSION zi Replace the VERSION by the version number 1 17 or greater If your KoreBotll has already the latest libkorebot installed jump to section 4 2 You can check if the last version is installed Log on the KoreBotll via ssh Bluetooth or serial port e You can check if you have the 1 17 version in listing the present files Is s usr lib libkorebot gt This should give end of the two lines usr lib libkorebot so gt usr lib libkorebot s0 1 17 usr lib libkorebot so 1 17 4 1 Installation of the latest libkorebot and configuration file To use the LRF with the Kheperalll and KoreBotll it s necessary to install the libkorebot version 1 17 or greater on the KoreBotll Normally if you have received the KoreBotll at the same time than the LRF the KoreBotlI is ready to be used with the LRF in this case you can jump to section 4 2 Otherwise if you have bought the LRF separately you will need to execute the step described below Log on the KoreBotll via ssh Bluetooth or serial port You have different ways to update the library Autonomously with the package e Upload the package file libkorebot 1 17 r0_armvSte ipk by ssh Bluetooth or Serial to the Korebot II e Remove the old one
6. consumption 500mA or less Rush current 800mA Detection distance 20mm 4000mm Accuracy Distance 20mm 1000mm 30mm Distance 20mm 4000mm 3 of measurement Resolution 1mm Scan Angle 240 Angular Resolution 0 36 Scan Time 100msec scan Ambient 10 50 C 85 or less without dew and frost Temperature Humidity Preservation temperature 25 75 C Ambient Light Resistance 10000Lx or less Impact Resistance 196 m s2 10 times each in X Y and Z direction Insulation Resistance 10MQ for DC 500Vmegger Weight Approx 160g Case Polycarbonate For more information please look at the sensor datasheet http ftp k team com Kheperalll LRF URG 04LX_UGO01_spec pdf Kheperalll LRF User Manual rev 1 0 2 THE LRF EXTENSION 2 5 Battery The Kheperalll LRF has an integrated battery to keep the autonomy of the robot at the same level than usual The Li Pol Battery of the LRF turret has a 950mAh capacity under 7 4V to ensure autonomy up to 2 hours This battery doesn t replace the Kheperalll robot battery you must plug a charged battery in the robot to use the robot and the LRF The LRF will be supplied only if it s mounted on a Kheperalll which is correctly powered and turn on As soon as the Kheperalll is turn off or the battery is empty the LRF supply will be cut If you want to preserve the battery when you don t use the LRF sensor
7. nERROR port s could not initialise libkorebot n return 1 kb_Irf_Power_On activate the power supply battery module initialise LRF device if LRF_DeviceHandle kb_Irf_Init LRF_DEVICE lt 0 printf nERROR port s could not initialise LRF n return 2 get distances if kb_Irf_GetDistances LRF_DeviceHandle lt 0 printf nERROR port s could not initialise LRF n kb_Irf_Close LRF_DeviceHandle return 3 printf index dist mm angle deg x mm y mm n process distances You have the distances radii from the center of the robot in mm starting at 30 deg and rotating to counterclockwise direction inside kb_Irf_DistanceData array Values lt 20 are errors You can get the distances average with function kb_Irf_GetDistances IrfHandle average for i 0 i lt LRF_DATA_NB i angle i LRF_DATA_NB 2 1024 4 360 0 1024 0 angle of each data convert from polar to cartesian x kb_Irf_DistanceData i cos angle M_PI 180 0 direction right side of robot y kb_Irf_DistanceData i sin angle M_PI 180 0 direction front of robot printf 3d t 4ld t 6 1f t 7 1f t 7 1f n i kb_lrf_DistanceData i angle x y close the Irf device kb_Irf_Close LRF_DeviceHandle return 0 Kheperalll LRF User Manual rev 1 0 17 5 WARRANTY 5 WARRANTY Sie K TEAM warrants that this product is free from defects in materials and workmanship an
8. new program filename in line 27 of the Makefile in the src test directory or start with the template program in the template directory As for all the KoreBotII extensions you need to initialize the library before using the functions described below The libkorebot provides high level functions which include all the available capabilities of the LRF Look at the section 4 3 1 to view the different functions provided by the libkorebot 4 4 1 Constants Constant defined in the header file is described below LRF DATA NB Number of data in one measurement defined like this define LRF_DATA_NB 682 4 4 2 Variables Variable for transferring data that is already declared in the header file is described below kb_Irf_DistanceData Array of long containing measurements of one scan in mm declared like this table 3 ERROR CODES Kheperalll LRF User Manual rev 1 0 4 PROGRAMMING THE LRF i index of DistanceData array values 0 681 DistanceData i distance of obstacle for index i in mm angle i 682 2 1024 4 360 1024 in degree x DistanceData i cos angle in mm y DistanceData i sin angle in mm end 210 start 30 1024 4 682 2 360 1024 1024 4 682 2 360 1024 Fig 4 3 data description 4 4 3 High level functions of the libkorebot The green words indicate the type of the function or parameter and must not be included in your code The blue words are the parameters Yo
9. the file in a char array format Irfmeasure Effect get Irf data save raw data to file if specified by the setfile command and plot processed data in a x y graphic Push anykey to stop or it stops after the number of measurements taken from the first parameter During the measurement the Irf led is green and not blinking Parameter first number of measurements to take 0 runs forever second optional number for averaging each measurement quit exit or_bye Effect Close the software and return to the KoreBotII main prompt Parameter help Effect display the list of commands above Parameter 4 3 Using KH3 LRF with Player Stage You can use the KH3 LRF with the Player Stage software framework The instructions and files are available from the link below Kheperalll LRF User Manual rev 1 0 13 4 PROGRAMMING THE LRF 4 4 Compiling your own program using the libkorebot To make your own software to control the LRF you need to install the development tools for the KoreBotlI on your computer with Linux OS If it is not already done please look at the KoreBotII User Manual to know how to install it Once done you can start writing your program The best solution is to copy the klrf_small_ex c source code see chapter 4 5 and modify it The source code klrf_test c is a more complete example In any case keep your program in the sre tests directory and modify the Makefile to compile your new software add your
10. 1 acts of God accident misuse abuse negligence commercial use or modifications of the Product 2 improper operation or maintenance of the Product 3 connection to improper voltage supply or 4 attempted repair by any party other than a K TEAM authorized robot service facility This limited warranty does not apply when the malfunction results from the use of the Product in conjunction with any accessories products or ancillary or peripheral equipment or where it is determined by K Team that there is no fault with the Product itself K Team expressly disclaims all other warranties than stated hereinbefore expressed or implied including without limitation implied warranties of merchantability and fitness for a particular purpose to the fullest extent permitted by law Limitation of Liability Jn not event shall either party be liable to the other for any indirect special incidental or consequential damages resulting from performance or failure to perform under the contract or from the furnishing performance or use of any goods or service sold or provided pursuant hereto whether due to a breach of contract breach of warranty negligence or otherwise Save that nothing herein shall limit either party s liability for death or personal injury arising from its negligence neither party shall have any liability to the other for indirect or punitive damages or for any claim by any third party except as expressly provided herein Khepe
11. d in conformity with the respective specifications of the product for the minimal legal duration respectively one year from the date of delivery under normal use conditions Upon discovery of a defect in materials workmanship or failure to meet the specifications in the Product during the afore mentioned period Customer must request e The type of the product used package version amp serial number The extension modules The programming environment of the robot standard version OS The standard use of Product before the appearance of the problem The description of the problem If no answer is received within two working days Customer can contact K TEAM support by phone or by electronic mail with the full reference as stated below If the defect is identified as a warranty related problem K TEAM shall then at K TEAM s sole discretion either repair such Product or replace it with the equivalent product without charging any technical labour fee and repair parts cost to Customer under the condition that Customer brings such Product to K TEAM within the period mentioned before Repair or replacement under warranty does not entitle to original warranty team extension This limited warranty is invalid if the factory applied serial number has been altered or removed from the Product This limited warranty covers only the hardware and software components contained in the Product It does not cover technical assistance for ha
12. on can be purchased with or without the URG 04LX sensor In case you would like to purchase it by your own way look at the chaptet_2 3 to know how to mount the sensor on the turret 1 1 How to use this manual This manual introduces the Kheperalll LRF extension To learn how to make the best use of your LRF turret you are urged to read all the chapters 2 through 6 If this manual does not answer one of the problems you are confronted with please consult the K Team web site www k team com and especially the Forum and the FAQs Introduction Presentation of the LRF and the way to use it Unpacking and Inspection LRF s package description and first start up The LRF sensor Description of all the LRF s functionalities Connections Explanation on how to connect or disconnect the LRF to the robot Programming the LRF Instructions to program the LRF using the libkorebot Warranty Legal notice of the LRF warranty Kheperalll LRF User Manual rev 1 0 1 1 2 1 INTRODUCTION Safety precautions Here are some recommendations on how to correctly use the Kheperalll LRF 1 3 Keep the turret away from wet area Contact with water could cause malfunction and or breakdown Store your turret in a stable position This will avoid the risks of falls which could break it or cause damage to a person Use only the official charger which is delivered with the Kheperalll robot Do not try to use another charger this can cause irrever
13. ralll LRF User Manual rev 1 0 19 Kream K TEAM S A RUE GALILEE 9 1400 YVverDOn Les BainsS SUITZErlLanD
14. rdware or software usage and it does not cover any software products contained in the Product This limited warranty is non transferable It is likely that the contents of Customer s flash memory will be lost or reformatted in the course of the service and K TEAM will not be responsible for any damage to or loss of any programs data or other information stored on any media or any part of the Product serviced hereunder or damage or loss arising from the Product not being available for use before during or after the period of service provided or any indirect or consequential damages resulting therefore If during the repair of the product the contents of the flash memory are altered deleted or in any way modified K Team is not responsible whatever Customer s Kheperalll LRF User Manual rev 1 0 5 WARRANTY product will be returned to customer configured as originally purchased subject to availability of software Be sure to remove all third parties hardware software features parts options alterations and attachments not warranted by K TEAM prior to Product service K TEAM is not responsible for any loss or damage to these items This warranty is limited as set out herein and does not cover any consumable items such as batteries supplied with the Product any accessory products which is not contained in the Product cosmetic damages damage or loss to any software programs data or removable storage media or damage due to
15. sible damage to the battery Do not plug or remove the turret while the robot is powered on To avoid any damage make all connections when the robot power is off Never leave the Kheperalll and the LRF powered when it is unused When you have finished working with Kheperalll turn it off It will save the battery life Recycling Think about the end of life of your robot Parts of the robot can be recycled and it is important to do so It is for instance important to keep batteries out of the solid waste stream When you throw away a battery it eventually ends up in a landfill or municipal incinerator These batteries which contain Lithium Polymer can contribute to the toxicity levels of landfills or incinerator ash By recycling the batteries through recycling programs you can help to create a cleaner and safer environment for generations to come For those reasons please take care to the recycling of your robot at the end of its life cycle for instance sending back the robot to the manufacturer or to your local dealer Thanks for your contribution to a cleaner environment Kheperalll LRF User Manual rev 1 0 2 THE LRF EXTENSION 2 THE LRF EXTENSION 2 1 Unpacking and inspection First check that you have a complete package You should find the Kheperalll LRF Turret mini USB to Micro MaTch cable URG 04LX UG01 sensor optional the support CD with this User manual the Libkorebot library 2 2 Global View
16. support the backspace command If you have typed a wrong command push the RETURN key and restart typing the correct command All wrong commands will be return an error message The parameters of the command are separated by a space but some commands do not need any parameter In this case type only the command and finally push the RETURN key 4 2 1 klrf_test commands poweron Effect set the laser battery module power on The Irf green led starts blinking Parameter Irfinit Effect Initialize the Irf communication and turn the laser beam on The poweron command should be run before Parameter laseron Effect set the laser beam on The Irf green led becomes steady on Parameter laseroff Effect set the laser beam off module is still active and consumes battery use poweroff to switch power supply off The Irf green led starts blinking Parameter 12 Kheperalll LRF User Manual rev 1 0 4 PROGRAMMING THE LRF poweroff Effect set the laser battery module power off The Irf green led becomes steady off Parameter setfile Effect set the filename where the output of the Irf is saved If not set no data will be saved File format is text First and second lines are the header Next are the data with tab between fields current measurement index distance index in the current measurement angle distance x position y position See figure 4 3 in chapter 4 4 for more details Parameter name of
17. t function void kb_Irf_Laser_Off int LRF_DeviceHandle Set the LRF laser beam off module still initialized and motor keeps running Return Parameter LRF_DeviceHandle Value handle received by kb_Irf_Init function void kb_Irf_Power_On void Set the battery module power on Return Parameter void kb_Irf_Power_Off void Set the battery module power off Return Parameter long kb_Irf_Get_Timestamp void Get the timestamp of the last measurement set Return Return the timestamp of the last measurement set in ms Parameter Kheperalll LRF User Manual rev 1 0 4 PROGRAMMING THE LRF 4 5 Software example A small example of software controlling the LRF is enclosed below You can find its source code file in libkorebot VERSION src tests krlf_small_ex c include lt math h gt include lt korebot korebot h gt device where the LRF is connected here USB port define LRF_DEVICE dev ttyACMO int main int argc char argv int rc i int LRF_DeviceHandle serial port handle for Irf float angle x y reset the screen printf 033 2J erase the whole console printf 033 0 0 Move cursor to the top left printf Led Range Finder Small Example Program C K Team S A r n Set the libkorebot debug level Highly recommended for development kb_set_debug_level 2 initialise the libkorebot if re kb_init argc argv lt 0 printf
18. u must declare it in your code before calling the function Only the black words can be directly added to your code int kb_Irf_Init char LRF_DeviceName Initialize the library to use the different Irf functions and power the laser on This function must be called at the beginning of each program using the Irf Return a handle number if success or lt 0 if error Parameter LRF_DeviceName name of the device where the Irf is connected Should be dev ttyACMO int kb_Irf_GetDistances int LRF_DeviceHandle Get one set of radius distances between objects and the center of the Irf Return a handle if success or lt 0 if error Parameter LRF_DeviceHandle Value handle received by kb_Irf_Init function int kb_Irf_GetDistances_Averaged int LRF_DeviceHandle int average Get multiple set of radius distances between objects and the center of the Irf averages the data Return a handle if success or lt 0 if error Parameters LRF_DeviceHandle Value handle received by kb_Irf_Init function average number of times the measure is averaged Kheperalll LRF User Manual rev 1 0 15 4 PROGRAMMING THE LRF int kb_Irf_Close int LRF_DeviceHandle It powers off the LRF and closes the port device Return Parameter LRF_DeviceHandle Value handle received by kb_Irf_Init function void kb_Irf_Laser_On int LRF_DeviceHandle Set the LRF laser beam on Return Parameter LRF_DeviceHandle Value handle received by kb_Irf_Ini
19. ut it is also necessary to perform it carefully e Before assembling the LRF on the Kheperalll you must be sure that a KoreBotll is already mounted inside If not look at the Kheperalll User manual to know how to open the Kheperalll and plug the KoreBotll If the black protection plate is mounted on Kheperalll remove it before connecting the LRF and very important be sure that the Kheperalll robot is turn off Then insert the LRF on the Kheperalll the connectors of the Main PCB must be at the back of the robot Do not try to mount the LRF the other way round this can cause irreversible damages to the KoreBotlII connector e When the LRF is correctly engaged in the KB 250 bus connectors push the turret straight to plug it If it is too hard to plug the turret do not force on it The connectors are certainly not correctly aligned Kheperalll LRF User Manual rev 1 0 3 2 3 CONNECTIONS Disassembling This operation must be done very carefully and as infrequently as possible 3 3 First switch OFF the Kheperalll robot to remove the battery is not enough Take the LRF turret with one hand and maintain the Kheperalll with the other Do not pull on the URG 04LX sensor to unplug the LRF Place your fingers on the Main PCB Pull the LRF straight and very carefully Once unplugged place the LRF in its case to store it Unpacking test After unpacking it is important to test the functionality of the LRF Plug the
20. with the command ipkg remove libkorebot e Install the new one with the command ipkg install libkorebot 1 17 r0_armvSte ipk Kheperalll LRF User Manual rev 1 0 4 PROGRAMMING THE LRF By hand Remove the old libkorebot rm usr lib libkorebot Copy or send the libkorebot so 1 17 file locate in the build korebot 2 6 lib directory of the libkorebot source files to the directory usr lib Link the libkorebot file as libkorebot so In s usr lib libkorebot so 1 17 usr lib libkorebot so Kheperalll LRF User Manual rev 1 0 11 4 PROGRAMMING THE LRF 4 2 Using the LRF with klrf_test software Before starting programming the LRF it is important to test the LRF with the kirf_test software to understand the different functionalities and capabilities of the LRF If the software is not yet in the home root directory of the KoreBotll copy it the executable file is located in the src tests directory of the libkorebot Then execute it with the command klIrf_test The klrf_test program waits that the user enters a command to control the Irf To show all the available commands type help and push the RETURN key These commands are described below See chapter 3 3 for a typical sequences of commands Execute poweron then Irfinit a Message appears as in the unpacking test chapter 3 3 If an error appears return to section 4 l and try to install a new version of the libkorebot library Warning this software does not
Download Pdf Manuals
Related Search