Lub chassis neeg hlau plaub ceg

Kev Qhia Tshwj Xeeb:

1. Lub Npe: Plaub ceg neeg hlau chassis;
2. Qauv: TIGER-04;
3. Qhov hnyav ntawm tag nrho lub tshuab (roj teeb) yuav tsum tsis pub tshaj 60kg;
4. Qhov Loj (sawv ntsug): ≤ 100cm ntev, 47cm dav, thiab 65cm siab
5. Kev Them Nqi: 20kg Kev Thauj Khoom Siab Tshaj Plaws: 85kg
6. Kub ua haujlwm: - 20ºC ~ 55ºC
7. Lub peev xwm ntawm lub roj teeb: Siv lub roj teeb lithium uas muaj peev xwm ua haujlwm tau zoo nrog lub peev xwm ntawm 22.4Ah thiab lub zog nominal ntawm 72V; Lub zog ntsuas ≥ 1600Wh; (Yuav tsum muaj cov ntaub ntawv pov thawj cuam tshuam)
8. Qhov loj ntawm lub voj voog sab thiab lub pob qij txha ntawm lub duav ≤ 100mm × 85mm; Qhov loj ntawm lub pob qij txha ntawm lub hauv caug ≤ 124mm × 100mm; (Yuav tsum muaj cov ntaub ntawv pov thawj tsim nyog)
9. Qib kev ywj pheej tag nrho: 12; Ib ceg qib kev ywj pheej: 3
10. Qhov yuav tsum tau ua: qhov siab tshaj plaws yam tsis muaj khoom thauj yog 15 km, qhov siab tshaj plaws nrog khoom thauj ntawm 20 kg yog 10 km; Kev thauj khoom khoob ntev ntawm 4 teev, 20kg thauj khoom ntev ntawm 2.5 teev.
11. Qhov ceev tshaj plaws: tsis pub tsawg dua 4m / s
12. Qhov siab tshaj plaws ntawm txoj kab nqes: 30 °
13. Lub zog sib txuas: 5V, 12V * 3, 24V * 3
14. Kev sib txuas lus sib txuas lus: suav nrog tsawg kawg 6 LAN ports, 4 USB ports (2.0 × 2, 3.0 × 2), kev sib txuas lus wireless network, thiab lwm yam
15. Hom kev tiv thaiv: Kev tiv thaiv thaum muaj xwm txheej ceev thiab nyuaj; Kev tiv thaiv poob qis; Lub tswb ceeb toom hluav taws xob; Lub tswb kub dhau, tus neeg hlau plaub ceg muaj lub pob liab ib qho tseem ceeb nres thaum muaj xwm txheej ceev nyob tom qab; Lub joystick interface muaj ib qho tseem ceeb nres thaum muaj xwm txheej ceev; (Cov ntaub ntawv pov thawj cuam tshuam yuav tsum muaj)
Thaum lub sijhawm khiav ceev ntawm 1.2m/s, qhov kev ncua deb ntawm lub nres yuav tsum tsis pub tshaj 0.4m. (Muab daim ntawv qhia txog kev sim CEPRI)
17. Kev Ua Si: Nws muaj cov haujlwm xws li kev taug kev, kev taug kev, kev khiav, kev nkag, thiab lwm yam. Thaum poob, nws tuaj yeem nce mus rau nws tus kheej, txav mus los thiab tawm, sab laug thiab sab xis, thiab tig mus rau hauv qhov chaw; Qhov siab tshaj plaws ntawm cov kauj ruam nce toj yog 25cm, thiab lub kaum sab xis tshaj plaws ntawm cov kauj ruam nce toj yog 45 °; Tuaj yeem taug kev ntawm thaj av xws li cov pob zeb pov tseg thiab cov chaw tsim kho;
18. Nruab nrog ntau txoj kev hloov pauv: taug kev, khiav, laser mapping nce thiab nqis ntaiv, nce thiab nqis ntaiv kev lag luam, nrog rau lub cim hloov pauv ntawm cov hom ntaiv (qhov siab ntaiv 25CM), taug kev ntawm cov roob thiab cov chaw puas tsuaj (ruaj khov hnyav), nkag. (Muab cov duab tiag tiag ntawm lub maub los tswj interface, thiab cov khoom yeej yuav tsum tau sim ntawm qhov chaw)
19. Qib kev tiv thaiv ntawm tag nrho lub tshuab: IP67 thiab muab daim ntawv qhia kev xeem thib peb (ntsuas los ntawm tus neeg hlau plaub ceg thaum lub zog rau)
20. Lub koob yees duab dav dav: qib kev lag luam 2 lab pixels;
21. Lidar: 4 lub lidar khov kho, qhov deb ntawm kev ntes: ≥ 40m, muaj peev xwm pom thaj av xws li ntaiv; Ua ke nrog pob software navigation, kev tso chaw navigation thiab kev zam kev cuam tshuam dynamic tuaj yeem ua tiav, ua rau kev hla pem teb thiab kev taug kev mus tom ntej thiab rov qab hauv qhov chaw nqaim thiab tsis tig tau, nrog rau kev ntes cov teeb meem nyob rau pem hauv ntej thiab tom qab yam tsis muaj qhov muag tsis pom kev kom tsis txhob muaj kev sib tsoo. Nruab nrog ob lub Mid 360 solid-state lidars thiab lub koob yees duab dav dav ntawm pem hauv ntej, nws tuaj yeem siv rau SLAM thiab kev tsim daim ntawv qhia thaj av; Txhawb nqa 2.5D daim ntawv qhia thaj av thiab kev npaj foothold; Ob lub Mid 360 solid-state radars tau teeb tsa ntawm tom qab, FOV: Kab rov tav ≥ 360 °, ntsug ≥ 59 °; Txhawb kev pom rov qab ntawm ntaiv thiab kev zam kev cuam tshuam tom qab; Txhawb kev navigation rov qab; (Cov khoom yeej yuav tsum tau sim ntawm qhov chaw, thiab cov duab kos duab tsim khoom thiab cov duab tiag tiag yuav tsum tau muab ua pov thawj). Kev rov ua dua qhov tseeb ntawm kev tso chaw navigation ≤ 5cm.
22. Muab cov lus qhia txog cov khoom lag luam kom ntxaws, cov lus qhia siv, cov lus qhia txog kev tsim kho, thiab lwm yam, muab cov ntaub ntawv tsim kho theem ob thiab cov txheej txheem, thiab muab cov ntaub ntawv tsim kho theem ob thiab cov txheej txheem. Universal Ubuntu operating system, yooj yim siv universal math library, quadruped robot library, thiab tsim cov programs. Txhawb ROS operating system
23. Khoom siv: Cov pob qij txha thiab lub cev ntawm tus neeg hlau plaub ceg yog ua los ntawm hlau, uas muaj cov yam ntxwv ntawm kev hnav tsis kam thiab lub teeb yuag;
24. Kev tswj hwm tag nrho lub zog: Tus neeg hlau plaub ceg siv cov thev naus laus zis tswj hwm tag nrho lub zog, tsis muaj cov sensors ntawm lub hauv paus, thiab siv cov roj hmab khov kho uas tiv taus kev hnav thiab hluav taws;

Kev Qhia Tshwj Xeeb:

1. Lub Npe: Plaub ceg neeg hlau chassis;
2. Qauv: TIGER-04;
3. Qhov hnyav ntawm tag nrho lub tshuab (roj teeb) yuav tsum tsis pub tshaj 60kg;
4. Qhov Loj (sawv ntsug): ≤ 100cm ntev, 47cm dav, thiab 65cm siab
5. Kev Them Nqi: 20kg Kev Thauj Khoom Siab Tshaj Plaws: 85kg
6. Kub ua haujlwm: - 20ºC ~ 55ºC
7. Lub peev xwm ntawm lub roj teeb: Siv lub roj teeb lithium uas muaj peev xwm ua haujlwm tau zoo nrog lub peev xwm ntawm 22.4Ah thiab lub zog nominal ntawm 72V; Lub zog ntsuas ≥ 1600Wh; (Yuav tsum muaj cov ntaub ntawv pov thawj cuam tshuam)
8. Qhov loj ntawm lub voj voog sab thiab lub pob qij txha ntawm lub duav ≤ 100mm × 85mm; Qhov loj ntawm lub pob qij txha ntawm lub hauv caug ≤ 124mm × 100mm; (Yuav tsum muaj cov ntaub ntawv pov thawj tsim nyog)
9. Qib kev ywj pheej tag nrho: 12; Ib ceg qib kev ywj pheej: 3
10. Qhov yuav tsum tau ua: qhov siab tshaj plaws yam tsis muaj khoom thauj yog 15 km, qhov siab tshaj plaws nrog khoom thauj ntawm 20 kg yog 10 km; Kev thauj khoom khoob ntev ntawm 4 teev, 20kg thauj khoom ntev ntawm 2.5 teev.
11. Qhov ceev tshaj plaws: tsis pub tsawg dua 4m / s
12. Qhov siab tshaj plaws ntawm txoj kab nqes: 30 °
13. Lub zog sib txuas: 5V, 12V * 3, 24V * 3
14. Kev sib txuas lus sib txuas lus: suav nrog tsawg kawg 6 LAN ports, 4 USB ports (2.0 × 2, 3.0 × 2), kev sib txuas lus wireless network, thiab lwm yam
15. Hom kev tiv thaiv: Kev tiv thaiv thaum muaj xwm txheej ceev thiab nyuaj; Kev tiv thaiv poob qis; Lub tswb ceeb toom hluav taws xob; Lub tswb kub dhau, tus neeg hlau plaub ceg muaj lub pob liab ib qho tseem ceeb nres thaum muaj xwm txheej ceev nyob tom qab; Lub joystick interface muaj ib qho tseem ceeb nres thaum muaj xwm txheej ceev; (Cov ntaub ntawv pov thawj cuam tshuam yuav tsum muaj)
Thaum lub sijhawm khiav ceev ntawm 1.2m/s, qhov kev ncua deb ntawm lub nres yuav tsum tsis pub tshaj 0.4m. (Muab daim ntawv qhia txog kev sim CEPRI)
17. Kev Ua Si: Nws muaj cov haujlwm xws li kev taug kev, kev taug kev, kev khiav, kev nkag, thiab lwm yam. Thaum poob, nws tuaj yeem nce mus rau nws tus kheej, txav mus los thiab tawm, sab laug thiab sab xis, thiab tig mus rau hauv qhov chaw; Qhov siab tshaj plaws ntawm cov kauj ruam nce toj yog 25cm, thiab lub kaum sab xis tshaj plaws ntawm cov kauj ruam nce toj yog 45 °; Tuaj yeem taug kev ntawm thaj av xws li cov pob zeb pov tseg thiab cov chaw tsim kho;
18. Nruab nrog ntau txoj kev hloov pauv: taug kev, khiav, laser mapping nce thiab nqis ntaiv, nce thiab nqis ntaiv kev lag luam, nrog rau lub cim hloov pauv ntawm cov hom ntaiv (qhov siab ntaiv 25CM), taug kev ntawm cov roob thiab cov chaw puas tsuaj (ruaj khov hnyav), nkag. (Muab cov duab tiag tiag ntawm lub maub los tswj interface, thiab cov khoom yeej yuav tsum tau sim ntawm qhov chaw)
19. Qib kev tiv thaiv ntawm tag nrho lub tshuab: IP67 thiab muab daim ntawv qhia kev xeem thib peb (ntsuas los ntawm tus neeg hlau plaub ceg thaum lub zog rau)
20. Lub koob yees duab dav dav: qib kev lag luam 2 lab pixels;
21. Lidar: 4 lub lidar khov kho, qhov deb ntawm kev ntes: ≥ 40m, muaj peev xwm pom thaj av xws li ntaiv; Ua ke nrog pob software navigation, kev tso chaw navigation thiab kev zam kev cuam tshuam dynamic tuaj yeem ua tiav, ua rau kev hla pem teb thiab kev taug kev mus tom ntej thiab rov qab hauv qhov chaw nqaim thiab tsis tig tau, nrog rau kev ntes cov teeb meem nyob rau pem hauv ntej thiab tom qab yam tsis muaj qhov muag tsis pom kev kom tsis txhob muaj kev sib tsoo. Nruab nrog ob lub Mid 360 solid-state lidars thiab lub koob yees duab dav dav ntawm pem hauv ntej, nws tuaj yeem siv rau SLAM thiab kev tsim daim ntawv qhia thaj av; Txhawb nqa 2.5D daim ntawv qhia thaj av thiab kev npaj foothold; Ob lub Mid 360 solid-state radars tau teeb tsa ntawm tom qab, FOV: Kab rov tav ≥ 360 °, ntsug ≥ 59 °; Txhawb kev pom rov qab ntawm ntaiv thiab kev zam kev cuam tshuam tom qab; Txhawb kev navigation rov qab; (Cov khoom yeej yuav tsum tau sim ntawm qhov chaw, thiab cov duab kos duab tsim khoom thiab cov duab tiag tiag yuav tsum tau muab ua pov thawj). Kev rov ua dua qhov tseeb ntawm kev tso chaw navigation ≤ 5cm.
22. Muab cov lus qhia txog cov khoom lag luam kom ntxaws, cov lus qhia siv, cov lus qhia txog kev tsim kho, thiab lwm yam, muab cov ntaub ntawv tsim kho theem ob thiab cov txheej txheem, thiab muab cov ntaub ntawv tsim kho theem ob thiab cov txheej txheem. Universal Ubuntu operating system, yooj yim siv universal math library, quadruped robot library, thiab tsim cov programs. Txhawb ROS operating system
23. Khoom siv: Cov pob qij txha thiab lub cev ntawm tus neeg hlau plaub ceg yog ua los ntawm hlau, uas muaj cov yam ntxwv ntawm kev hnav tsis kam thiab lub teeb yuag;
24. Kev tswj hwm tag nrho lub zog: Tus neeg hlau plaub ceg siv cov thev naus laus zis tswj hwm tag nrho lub zog, tsis muaj cov sensors ntawm lub hauv paus, thiab siv cov roj hmab khov kho uas tiv taus kev hnav thiab hluav taws;