4.3. Jaguar v4 的組件規格
1. 馬達驅動板(Motor Driver board)
使用三個馬達驅動板，其中兩個使用於左右兩邊履帶/車輪的馬達，以 open loop 模式運作，另一個則用於履帶關節臂(flipper arm)的馬達，以編碼器位置控制模式運作。
規格 | 說明 |
Input power | H-Bridge 2 channels |
Max current | up to 10A continuous power per channel, peak up to 20A per channel for a few seconds |
Input voltage | 12~30V, 30V absolute max |
Motor control mode | Open loop PWM control; Velocity control; Position control |
Sensor sampling | Encoders, motor current, motor temperature |
2. 運動和感測控制板(Motion and Sensing controller)
PMS5006 控制板基於 ARM Cortex-M4 控制器。它將作為主要控制中心。可接收遠端 PC 控制指令並傳回所有感測器數據，包括 IMU 感測器，GPS 模組數據和所有馬達感測器，如馬達編碼器，馬達溫度和馬達驅動板狀態。
規格 | 說明 |
Input power | 5V |
Motor Control Channel - 0 | Channel 0 will control front left motor and channel 1 will control front right motor. |
Motor Control Channel -1 | Channel 0 will control rear left motor and channel 1 will control rear right motor. |
Motor Control Channel - 2 | Channel 0 will control front flipper arm motor and channel 1 will control rear flipper motor. |
Motor Control Channel - 3 | reserved |
IMU/GPS Reading | Read GPS and IMU readings |
3. Camera 攝影機
規格 | 說明 |
Input power | 5V |
Lens | 4.4mm: 47° horizontal view, F2.0, fixed iris, fixed focus |
Light sensitivity | 1-10000 lux, F2.0 0 lux with headlights LED on |
Resolutions | 640x480 to 160x120 |
Frame rate | H.264: 30 fps in all resolutions Motion JPEG: 30 fps in all resolutions MPEG-4 Part 2: 30 fps in all resolutions |
Video compression | H.264 (MPEG-4 Part 10/AVC), Motion JPEG MPEG-4 Part 2 (ISO/IEC 14496-2) |
Audio streaming | Two-way |
Other features | PIR motion sensor with configurable sensitivity. Max range: 6 m |
4. GPS
規格 | 說明 |
Input power | 5V |
Update rate | 5Hz |
Sensitivity | - 185dBW minimum |
Accuracy | Standard GPS service: Position: <= 15m 95% typical Velocity: 0.1knot RMS steady state WAAS service: Position: <= 3m 95% typical |
Output Interface | NMEA 0183, default GPRMC/GPGGA/GPGSA/GPVTG Binary Output |
5. 9 DOF IMU (Gyro, Accelerometer & Digital Compass)
規格 | 說明 |
Input power | 5V |
Gyro Sensors | ITG3205 Triple-Axis digital output gyro sensor |
Accelerometers | 3 Axis ADXL345 13bit resolution Max +/-16G |
Magnetic Compass | 3 Axis HMC5883L magnetometer |
Output Frequency | 50Hz(Gyro an Acceerometers) Output all sensor raw data and processed data by on-board MCU through serial port |
6. Laser Scanner
提供三種雷射掃描儀選項，測量範圍分別為 0.02-4m，0.02-5.6m 和 0.1-30m。
規格 | 說明 | |
Input power | 5V | |
Detectable Range | 0.02-4m | |
Accuracy | 0.02 to 1m: +/- 10mm | 1 to 4m: 1% |
Angular Resolution | approx. 0.35˚ (360˚/1024 partition) | |
Scanning Angle | 240˚ |
規格 | 說明 | |
Input power | 5V | |
Detectable Range | 0.02-5.6m | |
Accuracy | 0.06 to 1m: +/- 30mm | 1 to 5.6m: 3% |
Angular Resolution | approx. 0.35˚ (360˚/1024 partition) | |
Scanning Angle | 240˚ |
規格 | 說明 |
Input power | 12V |
Detectable range | 0.1-30m |
Accuracy | 0.1 to 10m: +/- 30mm |
Angular Resolution | approx. 0.25˚ (360˚/1440 steps) |
Scanning angle | 270˚ |
7. 電池 (2 Packs) - 規格/per pack
規格 | 說明 |
Battery type | Li-Po |
Rated Voltage | 22.2V (6 cells, 3.7V/cell) |
Capacity | 10Ah |
Discharge rate | Max 50A continuous, Max 100A peak |
Max charge rate | 10A |
Cycle life | 500-1000 times |
8. 充電器
規格 | 說明 |
Charger type | LiPo Charger |
Maximum charge current | 2A |
Maximum discharge current | 2A |
Power Input | 100 - 240V |
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