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Commit e690b38f authored by Fernando Herrero's avatar Fernando Herrero
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Update battery_management procedure

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procedures/battery_management/battery_management.tex
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...@@ -68,24 +68,38 @@ Safety considerations to be taken into account when following these procedures a ...@@ -68,24 +68,38 @@ Safety considerations to be taken into account when following these procedures a
Both robots have two main batteries each. See table \ref{tab:battery-spec} for more details. Both robots have two main batteries each. See table \ref{tab:battery-spec} for more details.
\begin{itemize} \begin{itemize}
\item Payload battery: it powers all the on-board computers sensors and devices. \item Payload battery: it powers all the on-board computers sensors and devices. See Fig. \ref{fig:payload-batt}.
\item Platform battery: it powers the Segway RMP 200 platform. \item Platform battery: it powers the Segway RMP 200 platform. See Fig.\ref{fig:platform-batt}
\end{itemize} \end{itemize}
\begin{figure}[ht]
\centering
\includegraphics[width=.6\linewidth]{example-image}
\caption{Payload battery, connector and charger}
\label{fig:payload-batt}
\end{figure}
\begin{figure}[hb]
\centering
\includegraphics[width=.6\linewidth]{example-image}
\caption{Platform battery, connector and charger}
\label{fig:platform-batt}
\end{figure}
% Please add the following required packages to your document preamble: % Please add the following required packages to your document preamble:
% \usepackage[table,xcdraw]{xcolor} % \usepackage[table,xcdraw]{xcolor}
% If you use beamer only pass "xcolor=table" option, i.e. \documentclass[xcolor=table]{beamer} % If you use beamer only pass "xcolor=table" option, i.e. \documentclass[xcolor=table]{beamer}
\begin{table}[] \begin{table}[ht]
\begin{tabular}{| \begin{tabular}{|
>{\columncolor[HTML]{EFEFEF}}l |r|r|r|} >{\columncolor[HTML]{EFEFEF}}l |r|r|r|}
\hline \hline
\cellcolor[HTML]{C0C0C0}\textbf{Feature/Battery} & \cellcolor[HTML]{C0C0C0}\textbf{\begin{tabular}[c]{@{}r@{}}Tibi/Dabo \\ Segway\\ battery\end{tabular}} & \cellcolor[HTML]{C0C0C0}\textbf{\begin{tabular}[c]{@{}r@{}}Tibi \\ payload\\ battery\end{tabular}} & \cellcolor[HTML]{C0C0C0}\textbf{\begin{tabular}[c]{@{}r@{}}Dabo \\ payload\\ battery\end{tabular}} \\ \hline \cellcolor[HTML]{C0C0C0}\textbf{Feature/Battery} & \cellcolor[HTML]{C0C0C0}\textbf{\begin{tabular}[c]{@{}r@{}}Tibi/Dabo \\ Segway\\ battery\end{tabular}} & \cellcolor[HTML]{C0C0C0}\textbf{\begin{tabular}[c]{@{}r@{}}Tibi \\ payload\\ battery\end{tabular}} & \cellcolor[HTML]{C0C0C0}\textbf{\begin{tabular}[c]{@{}r@{}}Dabo \\ payload\\ battery\end{tabular}} \\ \hline
\textbf{Type} & Li-Ion & Li-Ion & Li-Ion \\ \hline \textbf{Type} & Li-Ion & Li-Ion & Li-Ion \\ \hline
\textbf{Cell configuration} & --- & 7s18p & 7s18p \\ \hline \textbf{Cell config} & --- & 7s18p & 7s18p \\ \hline
\textbf{Nominal voltage (V)} & 72 & 25.9 & 25.2 \\ \hline \textbf{\begin{tabular}[c]{@{}l@{}}Nominal \\ voltage (V)\end{tabular}} & 72 & 25.9 & 25.2 \\ \hline
\textbf{Capacity (Ah)} & 5.3 & 49.5 & 52.2 \\ \hline \textbf{Capacity (Ah)} & 5.3 & 49.5 & 52.2 \\ \hline
\textbf{Power connector} & \begin{tabular}[c]{@{}r@{}}Segway\\ custom\end{tabular} & \begin{tabular}[c]{@{}r@{}}TE Connectivity\\ 1-480698\end{tabular} & \begin{tabular}[c]{@{}r@{}}TE Connectivity\\ 1-480698\end{tabular} \\ \hline \textbf{\begin{tabular}[c]{@{}l@{}}Power\\ connector\end{tabular}} & \begin{tabular}[c]{@{}r@{}}Segway\\ custom\end{tabular} & \begin{tabular}[c]{@{}r@{}}TE Connectivity\\ 1-480698\end{tabular} & \begin{tabular}[c]{@{}r@{}}TE Connectivity\\ 1-480698\end{tabular} \\ \hline
\textbf{\begin{tabular}[c]{@{}l@{}}Balancing/monitoring\\ connector\end{tabular}} & --- & SMBUS & SMBUS \\ \hline \textbf{\begin{tabular}[c]{@{}l@{}}Balancing\\ connector\end{tabular}} & --- & SMBUS & SMBUS \\ \hline
\textbf{Manufacturer} & Segway & Amopack & Amopack \\ \hline \textbf{Manufacturer} & Segway & Amopack & Amopack \\ \hline
\end{tabular} \end{tabular}
\caption{Battery specifications} \caption{Battery specifications}
...@@ -95,16 +109,104 @@ Both robots have two main batteries each. See table \ref{tab:battery-spec} for m ...@@ -95,16 +109,104 @@ Both robots have two main batteries each. See table \ref{tab:battery-spec} for m
Remote controllers also have their own batteries: Remote controllers also have their own batteries:
\begin{itemize} \begin{itemize}
\item Security remote controller battery \item Security remote controller battery. See Fig.\ref{fig:security-batt}
\item Teleoperation remote controller battery: \item Teleoperation remote controller battery. It's embedded in the PlayStation3 pad remote controller and can't be removed. See Fig.\ref{fig:teleop-pad}
\end{itemize} \end{itemize}
\begin{figure}[ht]
\centering
\includegraphics[width=.6\linewidth]{example-image}
\caption{Security remote control battery}
\label{fig:security-batt}
\end{figure}
\begin{figure}[hb]
\centering
\includegraphics[width=.6\linewidth]{example-image}
\caption{Teleoperation PlayStation3 remote controller}
\label{fig:teleop-pad}
\end{figure}
\section{Check battery status procedure} \section{Check battery status procedure}
\begin{itemize}
\item Platform/Segway battery
\begin{itemize}
\item Operation: status topic if driver running
\item Charging: back panel LEDs (see manual)
\item Alarm: sound (see manual)
\end{itemize}
\item Payload battery
\begin{itemize}
\item Operation: side button panel, or status topic if driver running
\item Charging: charger LEDs
\item Alarm: software sound (to be tested)
\end{itemize}
\item Security remote controller battery
\begin{itemize}
\item Operation: LED (see manual)
\item Charging: charger LEDs
\item Alarm: none
\end{itemize}
\item Teleoperation remote controller battery
\begin{itemize}
\item Operation: diagnostics topic if driver running
\item Charging: LEDs
\item Alarm: none
\end{itemize}
\end{itemize}
\section{Charge batteries procedure} \section{Charge batteries procedure}
\begin{itemize}
\item Platform/Segway battery
\begin{enumerate}
\item Connect charger cable to charging port.
\item Connect charger cable to power plug.
\item Enable charging button. When enabled or in charging position, button should have a red light on.
\item Lights should blink. See LED code table.
\end{enumerate}
\item Payload battery
\begin{enumerate}
\item Connect charger cable to power plug.
\item Connect charger cable into front-right plug (unique position).
\item The charger LED should bright in orange when charging, green when fully charged.
\end{enumerate}
\item Security remote controller battery
\begin{enumerate}
\item Connect charger cable to power plug.
\item Slide in battery in charger.
\item Charger lights should bright in green and orange when charging, only green when fully charged.
\end{enumerate}
\item Teleoperation remote controller battery
\begin{enumerate}
\item Plug usb cable to powered usb port
\item Controller lights should blink, and turn off when fully charged.
\item Note: controller can be charging during operation through bluetooth, as long as the USB cable is plugged when the controller is already paired.
\end{enumerate}
\end{itemize}
\section{Change batteries procedure} \section{Change batteries procedure}
\begin{itemize}
\item Platform/Segway battery
\begin{itemize}
\item Shouldn't be removed. See manual for details.
\end{itemize}
\item Payload battery
\begin{itemize}
\item Shouldn't be removed. See manual for details.
\end{itemize}
\item Security remote controller battery
\begin{itemize}
\item Slide out or in the battery from the controller.
\end{itemize}
\item Teleoperation remote controller battery
\begin{itemize}
\item Can't be removed.
\end{itemize}
\end{itemize}
\newpage \newpage
\bibliographystyle{plain} \bibliographystyle{plain}
\bibliography{references} \bibliography{references}
......
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