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
Last updated