Mobile Robots communication Link FDM-6680 Testing Reports

Nhanganyaya

Muna Zvita 2021,IWAVEbvumidza Guangdong Communication Kambani kuita iyo peformance bvunzo yeFDM-6680.Iko kuyedzwa kunosanganisira Rf uye kutapurirana kuita, data rate uye latency, kureba kutaurirana, anti-jamming kugona, kugona network.Inotevera mishumo ine ruzivo.

1. Rf & Transmission Performance Testing

Vaka nzvimbo yekuedza maererano nenhamba yakarurama.Chiridzwa chekuyedza ndeye Agilent E4408B.Node A uye node B ndiyo midziyo iri pasi pekuyedzwa.Yavo RF interfaces yakabatana kuburikidza neattenuators uye yakabatana kune bvunzo chiridzwa kuburikidza nemagetsi splitter kuverenga data.Pakati pavo, node A ndiyorobhoti yekukurukurirana module, uye node B ndiyo gedhi rekukurukurirana module.

Yedza Nzvimbo Yekubatanidza Dhiagiramu

Test Result
Number	Detection Items	Detection Process	Detection Results
1	Chiratidzo chesimba	Chiedza chechiratidzo chinobatidzwa mushure mekubatidza	Normal ☑Unnormal □
2	Operating Band	Pinda kumanodhi A uye B kuburikidza neWebUi, pinda iyo yekumisikidza interface, isa iyo inoshanda frequency bhendi ku1.4GHz (1415-1540MHz), wobva washandisa spectrum analyzer kuona main frequency point uye yakagarwa frequency kuratidza kuti mudziyo unotsigira. 1.4GHz.	Normal ☑Unnormal □
3	Bandwidth Inogadziriswa	Pinda mumanode A uye B kuburikidza neWebUI, pinda iyo yekumisikidza interface, isa 5MHz, 10MHz, uye 20MHz zvakateerana (node A uye node B chengetedza marongero anoenderana), uye tarisa kana iyo bandwidth yekufambisa inoenderana nekumisikidzwa kuburikidza ne spectrum analyzer. .	Normal ☑Unnormal □
4	Adjustable power	Pinda mukati ma node A uye B kuburikidza neWebUI, pinda iyo yekumisikidza interface, iyo inobuda simba inogona kusetwa (seta 3 tsika zvichiteerana), uye tarisa kana iyo bandwidth yekufambisa inopindirana nekugadzirisa kuburikidza ne spectrum analyzer.	Zvakajairika ☑Zvisina kujairika
5	Encryption kutapurirana	Pinda kune node A uye B kuburikidza neWebUI, pinda iyo yekumisikidza interface, isa iyo encryption nzira kuAES128 uye isa kiyi (masetirwo emanodhi A uye B anoramba achienderana), uye inosimbiswa kuti kuendesa data kwakajairika.	Normal ☑Unnormal □
6	Robot End Power Consumption	Rekodha avhareji mashandisirwo emagetsi emanodhi padivi rerobhoti mune yakajairika nzira yekufambisa kuburikidza nemagetsi analyzer.	Avhareji yekushandisa simba: <15w

2. Data Rate uye Kunonoka Test

Muedzo nzira: Node A neB (node A inobata ruoko uye node B iwireless transmission gedhi) sarudza yakakodzera centre frequencies pa 1.4GHz uye 1.5GHz zvakateerana kudzivirira kukanganiswa frequency mabhendi munharaunda, uye gadzirisa max 20MHz bandwidth.Node A uye B dzakabatana nePC (A) uye PC (B) kuburikidza netiweki ports zvichiteerana.IP kero yePC(A) ndeye 192.168.1.1.IP kero yePC(B) ndeye 192.168.1.2.Isa iperf yekumhanyisa yekuyedza software pamaPC ese uye ita anotevera matanho ekuyedza:
● Ita murairo iperf-s paPC (A)
● Ita murairo iperf -c 192.168.1.1 -P 2 paPC (B)
● Maererano nepamusoro bvunzo nzira, rekodha mhinduro dzebvunzo dze20 nguva uye verenga avhareji kukosha.

TestResults
Number	Preset Test Conditions	Yedza mhinduro(Mbps)	Number	Preset Test Conditions	Miedzo mhinduro (Mbps)
1	1450MHz@20MHz	88.92	11	1510MHz@20MHz	88.92
2	1450MHz@20MHz	90.11	12	1510MHz@20MHz	87.93
3	1450MHz@20MHz	88.80	13	1510MHz@20MHz	86.89
4	1450MHz@20MHz	89.88	14	1510MHz@20MHz	88.32
5	1450MHz@20MHz	88.76	15	1510MHz@20MHz	86.53
6	1450MHz@20MHz	88.19	16	1510MHz@20MHz	87.25
7	1450MHz@20MHz	90.10	17	1510MHz@20MHz	89.58
8	1450MHz@20MHz	89.99	18	1510MHz@20MHz	78.23
9	1450MHz@20MHz	88.19	19	1510MHz@20MHz	76.86
10	1450MHz@20MHz	89.58	20	1510MHz@20MHz	86.42
Avhareji Wireless Transmission Rate: 88.47 Mbps

3. Latency Test

Nzira yekuedza: Pamanodhi A neB (node A inzvimbo inobatwa neruoko uye node B igedhi rekutapurirana isina waya), sarudza mafambisirwo epakati akakodzera pa1.4GHz uye 1.5GHz zvichiteerana kudzivirira mabhendi ekukanganisa mawaya enzvimbo, uye gadzirisa bandwidth ye20MHz.Node A uye B dzakabatana nePC (A) uye PC (B) kuburikidza netiweki ports zvichiteerana.IP kero yePC(A) ndeye 192.168.1.1, uye IP kero yePC(B) iri 192.168.1.2.Ita matanho ekuedza anotevera:
● Mhanyai command ping 192.168.1.2 -I 60000 paPC (A) kuyedza kunonoka kutapurirana isina waya kubva kuA kuenda kuB.
● Mhanyai ping yekuraira 192.168.1.1 -I 60000 paPC (B) kuti uedze kunonoka kutapurirana isina waya kubva B kuenda kuA.
● Maererano nepamusoro bvunzo nzira, rekodha mhinduro dzebvunzo dze20 nguva uye verenga avhareji kukosha.

Test Result
Number	Preset Test Conditions	PC(A)kusvika kuB Latency (ms)	PC(B)kusvika kuA Latency (ms)	Number	Preset Test Conditions	PC(A)kusvika kuB Latency (ms)	PC(B)kusvika kuA Latency (ms)
1	1450MHz@20MHz	30	29	11	1510MHz@20MHz	28	26
2	1450MHz@20MHz	31	33	12	1510MHz@20MHz	33	42
3	1450MHz@20MHz	31	27	13	1510MHz@20MHz	30	36
4	1450MHz@20MHz	38	31	14	1510MHz@20MHz	28	38
5	1450MHz@20MHz	28	30	15	1510MHz@20MHz	35	33
6	1450MHz@20MHz	28	26	16	1510MHz@20MHz	60	48
7	1450MHz@20MHz	38	31	17	1510MHz@20MHz	46	51
8	1450MHz@20MHz	33	35	18	1510MHz@20MHz	29	36
9	1450MHz@20MHz	29	28	19	1510MHz@20MHz	29	43
10	1450MHz@20MHz	32	36	20	1510MHz@20MHz	41	50
Avhareji isina waya yekufambisa kunonoka: 34.65 ms

4. Anti-jamming Test

Gadzira nzvimbo yekuyedza zvinoenderana nenhamba iri pamusoro, umo node A ndiyo isina waya yekufambisa gedhi uye B ndiyo robhoti isina waya yekutumira node.Gadzirisa node A uye B kune 5MHz bandwidth.
Mushure meA uye B gadzira yakajairika link.Tarisa ikozvino kushanda frequency kuburikidza neWEB UI DPRP murairo.Shandisa jenareta yechiratidzo kugadzira 1MHz bandwidth yekukanganisa chiratidzo pane ino frequency point.Zvishoma nezvishoma wedzera simba rechiratidzo uye bvunza shanduko mukushanda frequency munguva chaiyo.

Sequence Number	Detection Items	Detection Process	Detection Results
1	Anti-jamming kugona	Kana kupindira kwakasimba kuchiteedzerwa kuburikidza nejenareta yechiratidzo, node A uye B zvinozozviitira otomatiki frequency hopping mechanism.Kuburikidza neiyo WEB UI DPRP yekuraira, unogona kutarisa kuti iyo yekushanda frequency point yakangochinja kubva ku1465MHz kuenda ku1480MHz.	Zvakajairika ☑Zvisina kujairika