Ishasi yerobhothi enama-quadruped
Ukubuka konke:
Inja yerobhothi enama-quadruped iyithuluzi elikhethekile elihlanganisa i-bionics nobuchwepheshe obuhlakaniphile, elenzelwe izimo eziyinkimbinkimbi nezinobungozi obukhulu. Izinga layo lokushisa lokusebenza lihlanganisa -20 ºC kuya ku-55 ºC, futhi inokusebenza okungangeni manzi kwe-IP67 kanye nokuvikela uthuli. Ingasebenza ngokuqina ezindaweni ezimbi kakhulu njengentuthu ejiyile, izinga lokushisa eliphezulu, kanye namagesi anobuthi.
Ivumelana nezimo zezindawo eziyinkimbinkimbi njengezakhiwo ezidilikile, izitebhisi, izinqwaba zamatshe, kanye nezikhala ezincane, amalunga emilenze yerobhothi angalungisa ama-engeli ngokushesha. Lapho ihlangabezana nokuwa komhlabathi noma ingxenye yesakhiwo ithambekele ohlangothini olulodwa, irobhothi lingalondoloza ibhalansi ngokulungisa ukusatshalaliswa kwamandla okusekela imilenze.
Izici:
Insimu yezempi
Ingasetshenziswa emisebenzini yokuhlola.ishasi yerobhothiiyakwazi ukuqondisa kahle, ingakwazi ukuhamba ezindaweni zempi eziyinkimbinkimbi, iphathe imishini yokuhlola ukuze isondele ezindaweni eziqondiwe ukuze ithole ubuhlakani, futhi ayitholakali kalula yisitha.
Umkhakha wezimboni
Kwezinye izindawo eziyingozi (njengezindawo ezinemisebe yenuzi, izindawo zokungcola kwamakhemikhali, njll.), i-quadrupedishasi yerobhothiingahlonyiswa ngemishini yokuthola indawo noma yokuhlola imishini. Ingafinyelela ezindaweni okunzima ngabantu ukuzifinyelela, ithuthukise ukusebenza kahle komsebenzi ngenkathi iqinisekisa ukuphepha kwabasebenzi.
Ukuhlola ucwaningo lwesayensi
Ezimweni zokuhlola zesayensi ezifana nokuhlenga ukuzamazama komhlaba kanye nokuhlola imihume, i-chassis yamarobhothi amane ingasiza abacwaningi ukuthi bahambise amathuluzi okuthola ezindaweni ezikhethiwe, baqoqe idatha, noma benze umsebenzi wokusindisa. Isibonelo, ukufuna abasindile emanxiweni ngemva kokuzamazama komhlaba, noma ukwenza ukuhlola kwejiyoloji ekujuleni kwemihume.
Ingasetshenziswa emisebenzini yokuhlola.ishasi yerobhothiiyakwazi ukuqondisa kahle, ingakwazi ukuhamba ezindaweni zempi eziyinkimbinkimbi, iphathe imishini yokuhlola ukuze isondele ezindaweni eziqondiwe ukuze ithole ubuhlakani, futhi ayitholakali kalula yisitha.
Umkhakha wezimboni
Kwezinye izindawo eziyingozi (njengezindawo ezinemisebe yenuzi, izindawo zokungcola kwamakhemikhali, njll.), i-quadrupedishasi yerobhothiingahlonyiswa ngemishini yokuthola indawo noma yokuhlola imishini. Ingafinyelela ezindaweni okunzima ngabantu ukuzifinyelela, ithuthukise ukusebenza kahle komsebenzi ngenkathi iqinisekisa ukuphepha kwabasebenzi.
Ukuhlola ucwaningo lwesayensi
Ezimweni zokuhlola zesayensi ezifana nokuhlenga ukuzamazama komhlaba kanye nokuhlola imihume, i-chassis yamarobhothi amane ingasiza abacwaningi ukuthi bahambise amathuluzi okuthola ezindaweni ezikhethiwe, baqoqe idatha, noma benze umsebenzi wokusindisa. Isibonelo, ukufuna abasindile emanxiweni ngemva kokuzamazama komhlaba, noma ukwenza ukuhlola kwejiyoloji ekujuleni kwemihume.
Imininingwane:
1. Igama: Ishasi yerobhothi enemilenze emine;
2. Imodeli: I-TIGER-04;
3. Isisindo somshini wonke (ibhethri) akumele sidlule u-60kg;
4. Ubukhulu (ukuma): ≤ 100cm ubude, 47cm ububanzi, kanye no-65cm ukuphakama
5. Umthwalo: 20kg Umthwalo omkhulu: 85kg
6. Izinga lokushisa lokusebenza: - 20ºC ~ 55ºC
7. Umthamo webhethri: Ukusebenzisa ibhethri le-lithium elihlanganisiwe elisebenza kahle kakhulu elinomthamo ongu-22.4Ah kanye ne-voltage encane engu-72V; Amandla alinganiselwe ≥ 1600Wh; (Kudingeka izinto ezifanele zokufaka ugesi)
8. Usayizi wemodyuli ye-side swing kanye ne-hip joint ≤ 100mm × 85mm; Usayizi wemodyuli ye-dolo joint ≤ 124mm × 100mm; (Kudingeka izinto ezifanele zokuvikela)
9. Izinga lenkululeko lilonke: 12; Izinga lenkululeko lomlenze owodwa: 3
10. Izidingo zebanga: ibanga eliphezulu ngaphandle komthwalo lingu-15 km, ibanga eliphezulu elinomthwalo ongu-20 kg lingu-10 km; Ukukhuthazela komthwalo ongenalutho amahora angu-4, ukukhuthazela komthwalo ongu-20 kg amahora angu-2.5.
11. Isivinini esiphezulu: hhayi ngaphansi kuka-4m/s
12. Ukwehla okuphezulu: 30 °
13. Isixhumi samandla: 5V, 12V * 3, 24V * 3
14. Isixhumi sokuxhumana: kufaka phakathi okungenani amachweba e-LAN ayi-6, amachweba e-USB ama-4 (2.0×2, 3.0×2), ukuxhumana kwenethiwekhi okungenantambo, njll.
15. Imodi yokuvikela: Ukuvikelwa kokuma okuphuthumayo okuthambile nokuqinile; Ukuvikelwa kokuwa okuphansi; I-alamu ye-voltage; I-alamu yokushisa okungaphezu kokushisa, irobhothi elinama-quadruped linenkinobho yokuma okuphuthumayo okubomvu okuqinile kwenkinobho eyodwa ngemuva; I-joystick interface ifakwe ukuvikelwa kokuma okuphuthumayo okuthambile kwenkinobho eyodwa; (Kudingeka izinto ezifanele zokufaka ubufakazi)
Ngesivinini esingu-1.2m/s, ibanga lokubhuleka akufanele lidlule u-0.4m. (Nikeza umbiko wokuhlola we-CEPRI)
17. Umsebenzi wezemidlalo: Inemisebenzi efana nokunyathela, ukuhamba, ukugijima, ukukhasa, njll. Uma iwa, ingakhuphuka ngokuzimela, ihambe iye emuva naphambili, kwesobunxele nakwesokudla, bese ijika endaweni yayo; Ukuphakama okuphezulu kwezitebhisi zokukhuphuka kungu-25cm, kanti i-engeli ephezulu yezitebhisi zokukhuphuka ingu-45°; Ingahamba endaweni efana nezinqwaba zamatshe amdaka kanye nezindawo zokwakha;
18. Ihlonyiswe ngokushintshashintshana kwezinyathelo eziningi: ukuhamba, ukugijima, ukumaka izitebhisi ezikhuphukayo neziphansi nge-laser, izitebhisi zezimboni ezikhuphukayo neziphansi, ngokushintshana kwezimpawu zezinhlobo zezitebhisi (ukuphakama kwezitebhisi okungu-25CM), ukuhamba emithambekeni nasemanxiweni (ukuhamba okusindayo okuzinzile), ukukhasa. (Nikeza izithombe zangempela zesibonisi sokulawula, futhi umkhiqizo ophumelelayo udinga ukuhlolwa endaweni)
19. Izinga lokuvikela lomshini wonke: IP67 futhi unikeze umbiko wokuhlola womuntu wesithathu (olinganiswa yirobhothi elinama-quadruped uma livuliwe)
20. Ikhamera ene-engeli ebanzi: amaphikseli ayizigidi ezimbili ebanga lezimboni;
21. I-Lidar: Ama-lidar angu-4 e-solid-state, ibanga lokuthola: ≥ 40m, ayakwazi ukubona indawo njengezitebhisi; Uma ihambisana nephakheji yesofthiwe yokuzulazula, indawo yokuzulazula ezenzakalelayo kanye nokugwema izithiyo ezinamandla kungafinyelelwa, okuvumela ukuzulazula okuwela phansi kanye nokuhamba phambili nangemuva ezindaweni ezincane nezingenakuzungeza, kanye nokuthola izithiyo ngaphambili nangemuva ngaphandle kwezindawo ezingaboni ukuze kugwenywe ukushayisana. Ifakwe ama-lidar amabili e-solid-state eMid 360 kanye nekhamera ebanzi ngaphambili, ingasetshenziswa ekuthuthukisweni kwe-SLAM kanye nemephu yendawo; Isekela ukumephu yendawo engu-2.5D kanye nokuhlela indawo; Ama-radar amabili e-solid-state eMid 360 ahlelwe ngemuva, i-FOV: Evundlile ≥ 360 °, eqondile ≥ 59 °; Isekela ukuqonda emuva kwezitebhisi kanye nokugwema izithiyo zangemuva; Isekela ukuzulazula emuva; (Umkhiqizo owinile udinga ukuhlolwa endaweni, futhi imidwebo yomklamo womkhiqizo nezithombe zangempela kudingeka zinikezwe njengobufakazi). Ukunemba kokubeka ukuzulazula okuphindaphindiwe ≤ 5cm.
22. Nikeza izincwajana zomkhiqizo ezinemininingwane, izincwajana zohlelo lokusebenza, izincwajana zokuthuthukisa, njll., nikeza amadokhumenti okuthuthukisa okwesibili kanye nezinqubo, futhi unikeze amadokhumenti okuthuthukisa okwesibili kanye nezinqubo. Uhlelo lokusebenza lwe-Universal Ubuntu, umtapo wolwazi wezibalo olulula ukuwusebenzisa, umtapo wolwazi werobhothi onezinqe, kanye nezinhlelo zokuthuthukisa. Sekela uhlelo lokusebenza lwe-ROS
23. Izinto: Amalunga nomzimba werobhothi elinama-quadruped konke kwenziwe ngensimbi, enezici zokumelana nokuguguleka kanye nesisindo esincane;
24. Ukulawula Okugcwele Amandla: Irobhothi elinama-quadruped lisebenzisa ubuchwepheshe bokulawula Okugcwele Amandla, elingenazo izinzwa ezinyaweni, futhi lisebenzisa ama-sole enjoloba aqinile angagugi futhi angashi;
2. Imodeli: I-TIGER-04;
3. Isisindo somshini wonke (ibhethri) akumele sidlule u-60kg;
4. Ubukhulu (ukuma): ≤ 100cm ubude, 47cm ububanzi, kanye no-65cm ukuphakama
5. Umthwalo: 20kg Umthwalo omkhulu: 85kg
6. Izinga lokushisa lokusebenza: - 20ºC ~ 55ºC
7. Umthamo webhethri: Ukusebenzisa ibhethri le-lithium elihlanganisiwe elisebenza kahle kakhulu elinomthamo ongu-22.4Ah kanye ne-voltage encane engu-72V; Amandla alinganiselwe ≥ 1600Wh; (Kudingeka izinto ezifanele zokufaka ugesi)
8. Usayizi wemodyuli ye-side swing kanye ne-hip joint ≤ 100mm × 85mm; Usayizi wemodyuli ye-dolo joint ≤ 124mm × 100mm; (Kudingeka izinto ezifanele zokuvikela)
9. Izinga lenkululeko lilonke: 12; Izinga lenkululeko lomlenze owodwa: 3
10. Izidingo zebanga: ibanga eliphezulu ngaphandle komthwalo lingu-15 km, ibanga eliphezulu elinomthwalo ongu-20 kg lingu-10 km; Ukukhuthazela komthwalo ongenalutho amahora angu-4, ukukhuthazela komthwalo ongu-20 kg amahora angu-2.5.
11. Isivinini esiphezulu: hhayi ngaphansi kuka-4m/s
12. Ukwehla okuphezulu: 30 °
13. Isixhumi samandla: 5V, 12V * 3, 24V * 3
14. Isixhumi sokuxhumana: kufaka phakathi okungenani amachweba e-LAN ayi-6, amachweba e-USB ama-4 (2.0×2, 3.0×2), ukuxhumana kwenethiwekhi okungenantambo, njll.
15. Imodi yokuvikela: Ukuvikelwa kokuma okuphuthumayo okuthambile nokuqinile; Ukuvikelwa kokuwa okuphansi; I-alamu ye-voltage; I-alamu yokushisa okungaphezu kokushisa, irobhothi elinama-quadruped linenkinobho yokuma okuphuthumayo okubomvu okuqinile kwenkinobho eyodwa ngemuva; I-joystick interface ifakwe ukuvikelwa kokuma okuphuthumayo okuthambile kwenkinobho eyodwa; (Kudingeka izinto ezifanele zokufaka ubufakazi)
Ngesivinini esingu-1.2m/s, ibanga lokubhuleka akufanele lidlule u-0.4m. (Nikeza umbiko wokuhlola we-CEPRI)
17. Umsebenzi wezemidlalo: Inemisebenzi efana nokunyathela, ukuhamba, ukugijima, ukukhasa, njll. Uma iwa, ingakhuphuka ngokuzimela, ihambe iye emuva naphambili, kwesobunxele nakwesokudla, bese ijika endaweni yayo; Ukuphakama okuphezulu kwezitebhisi zokukhuphuka kungu-25cm, kanti i-engeli ephezulu yezitebhisi zokukhuphuka ingu-45°; Ingahamba endaweni efana nezinqwaba zamatshe amdaka kanye nezindawo zokwakha;
18. Ihlonyiswe ngokushintshashintshana kwezinyathelo eziningi: ukuhamba, ukugijima, ukumaka izitebhisi ezikhuphukayo neziphansi nge-laser, izitebhisi zezimboni ezikhuphukayo neziphansi, ngokushintshana kwezimpawu zezinhlobo zezitebhisi (ukuphakama kwezitebhisi okungu-25CM), ukuhamba emithambekeni nasemanxiweni (ukuhamba okusindayo okuzinzile), ukukhasa. (Nikeza izithombe zangempela zesibonisi sokulawula, futhi umkhiqizo ophumelelayo udinga ukuhlolwa endaweni)
19. Izinga lokuvikela lomshini wonke: IP67 futhi unikeze umbiko wokuhlola womuntu wesithathu (olinganiswa yirobhothi elinama-quadruped uma livuliwe)
20. Ikhamera ene-engeli ebanzi: amaphikseli ayizigidi ezimbili ebanga lezimboni;
21. I-Lidar: Ama-lidar angu-4 e-solid-state, ibanga lokuthola: ≥ 40m, ayakwazi ukubona indawo njengezitebhisi; Uma ihambisana nephakheji yesofthiwe yokuzulazula, indawo yokuzulazula ezenzakalelayo kanye nokugwema izithiyo ezinamandla kungafinyelelwa, okuvumela ukuzulazula okuwela phansi kanye nokuhamba phambili nangemuva ezindaweni ezincane nezingenakuzungeza, kanye nokuthola izithiyo ngaphambili nangemuva ngaphandle kwezindawo ezingaboni ukuze kugwenywe ukushayisana. Ifakwe ama-lidar amabili e-solid-state eMid 360 kanye nekhamera ebanzi ngaphambili, ingasetshenziswa ekuthuthukisweni kwe-SLAM kanye nemephu yendawo; Isekela ukumephu yendawo engu-2.5D kanye nokuhlela indawo; Ama-radar amabili e-solid-state eMid 360 ahlelwe ngemuva, i-FOV: Evundlile ≥ 360 °, eqondile ≥ 59 °; Isekela ukuqonda emuva kwezitebhisi kanye nokugwema izithiyo zangemuva; Isekela ukuzulazula emuva; (Umkhiqizo owinile udinga ukuhlolwa endaweni, futhi imidwebo yomklamo womkhiqizo nezithombe zangempela kudingeka zinikezwe njengobufakazi). Ukunemba kokubeka ukuzulazula okuphindaphindiwe ≤ 5cm.
22. Nikeza izincwajana zomkhiqizo ezinemininingwane, izincwajana zohlelo lokusebenza, izincwajana zokuthuthukisa, njll., nikeza amadokhumenti okuthuthukisa okwesibili kanye nezinqubo, futhi unikeze amadokhumenti okuthuthukisa okwesibili kanye nezinqubo. Uhlelo lokusebenza lwe-Universal Ubuntu, umtapo wolwazi wezibalo olulula ukuwusebenzisa, umtapo wolwazi werobhothi onezinqe, kanye nezinhlelo zokuthuthukisa. Sekela uhlelo lokusebenza lwe-ROS
23. Izinto: Amalunga nomzimba werobhothi elinama-quadruped konke kwenziwe ngensimbi, enezici zokumelana nokuguguleka kanye nesisindo esincane;
24. Ukulawula Okugcwele Amandla: Irobhothi elinama-quadruped lisebenzisa ubuchwepheshe bokulawula Okugcwele Amandla, elingenazo izinzwa ezinyaweni, futhi lisebenzisa ama-sole enjoloba aqinile angagugi futhi angashi;
Ukubuka konke:
Inja yerobhothi enama-quadruped iyithuluzi elikhethekile elihlanganisa i-bionics nobuchwepheshe obuhlakaniphile, elenzelwe izimo eziyinkimbinkimbi nezinobungozi obukhulu. Izinga layo lokushisa lokusebenza lihlanganisa -20 ºC kuya ku-55 ºC, futhi inokusebenza okungangeni manzi kwe-IP67 kanye nokuvikela uthuli. Ingasebenza ngokuqina ezindaweni ezimbi kakhulu njengentuthu ejiyile, izinga lokushisa eliphezulu, kanye namagesi anobuthi.
Ivumelana nezimo zezindawo eziyinkimbinkimbi njengezakhiwo ezidilikile, izitebhisi, izinqwaba zamatshe, kanye nezikhala ezincane, amalunga emilenze yerobhothi angalungisa ama-engeli ngokushesha. Lapho ihlangabezana nokuwa komhlabathi noma ingxenye yesakhiwo ithambekele ohlangothini olulodwa, irobhothi lingalondoloza ibhalansi ngokulungisa ukusatshalaliswa kwamandla okusekela imilenze.
Izici:
Insimu yezempi
Ingasetshenziswa emisebenzini yokuhlola. I-chassis yerobhothi enama-quadruped iyakwazi ukuqondisa kahle, ingahamba ezindaweni zempi eziyinkimbinkimbi, ithwale imishini yokuhlola ukuze isondele ezindaweni eziqondiwe ukuze ithole ubuhlakani, futhi ayitholakali kalula yisitha.
Umkhakha wezimboni
Kwezinye izindawo eziyingozi (njengezindawo ezinemisebe yenuzi, izindawo zokungcola kwamakhemikhali, njll.), i-chassis yerobhothi enama-quadruped ingafakelwa imishini yokuthola ukuqapha imvelo noma ukuhlola imishini. Ingafinyelela ezindaweni okunzima ngabantu ukuzifinyelela, ithuthukise ukusebenza kahle komsebenzi ngenkathi iqinisekisa ukuphepha kwabasebenzi.
Ukuhlola ucwaningo lwesayensi
Ezimweni zokuhlola zesayensi ezifana nokuhlenga ukuzamazama komhlaba kanye nokuhlola imihume, i-chassis yamarobhothi amane ingasiza abacwaningi ukuthi bahambise amathuluzi okuthola ezindaweni ezikhethiwe, baqoqe idatha, noma benze umsebenzi wokusindisa. Isibonelo, ukufuna abasindile emanxiweni ngemva kokuzamazama komhlaba, noma ukwenza ukuhlola kwejiyoloji ekujuleni kwemihume.
Ingasetshenziswa emisebenzini yokuhlola. I-chassis yerobhothi enama-quadruped iyakwazi ukuqondisa kahle, ingahamba ezindaweni zempi eziyinkimbinkimbi, ithwale imishini yokuhlola ukuze isondele ezindaweni eziqondiwe ukuze ithole ubuhlakani, futhi ayitholakali kalula yisitha.
Umkhakha wezimboni
Kwezinye izindawo eziyingozi (njengezindawo ezinemisebe yenuzi, izindawo zokungcola kwamakhemikhali, njll.), i-chassis yerobhothi enama-quadruped ingafakelwa imishini yokuthola ukuqapha imvelo noma ukuhlola imishini. Ingafinyelela ezindaweni okunzima ngabantu ukuzifinyelela, ithuthukise ukusebenza kahle komsebenzi ngenkathi iqinisekisa ukuphepha kwabasebenzi.
Ukuhlola ucwaningo lwesayensi
Ezimweni zokuhlola zesayensi ezifana nokuhlenga ukuzamazama komhlaba kanye nokuhlola imihume, i-chassis yamarobhothi amane ingasiza abacwaningi ukuthi bahambise amathuluzi okuthola ezindaweni ezikhethiwe, baqoqe idatha, noma benze umsebenzi wokusindisa. Isibonelo, ukufuna abasindile emanxiweni ngemva kokuzamazama komhlaba, noma ukwenza ukuhlola kwejiyoloji ekujuleni kwemihume.
Imininingwane:
1. Igama: Ishasi yerobhothi enemilenze emine;
2. Imodeli: I-TIGER-04;
3. Isisindo somshini wonke (ibhethri) akumele sidlule u-60kg;
4. Ubukhulu (ukuma): ≤ 100cm ubude, 47cm ububanzi, kanye no-65cm ukuphakama
5. Umthwalo: 20kg Umthwalo omkhulu: 85kg
6. Izinga lokushisa lokusebenza: - 20ºC ~ 55ºC
7. Umthamo webhethri: Ukusebenzisa ibhethri le-lithium elihlanganisiwe elisebenza kahle kakhulu elinomthamo ongu-22.4Ah kanye ne-voltage encane engu-72V; Amandla alinganiselwe ≥ 1600Wh; (Kudingeka izinto ezifanele zokufaka ugesi)
8. Usayizi wemodyuli ye-side swing kanye ne-hip joint ≤ 100mm × 85mm; Usayizi wemodyuli ye-dolo joint ≤ 124mm × 100mm; (Kudingeka izinto ezifanele zokuvikela)
9. Izinga lenkululeko lilonke: 12; Izinga lenkululeko lomlenze owodwa: 3
10. Izidingo zebanga: ibanga eliphezulu ngaphandle komthwalo lingu-15 km, ibanga eliphezulu elinomthwalo ongu-20 kg lingu-10 km; Ukukhuthazela komthwalo ongenalutho amahora angu-4, ukukhuthazela komthwalo ongu-20 kg amahora angu-2.5.
11. Isivinini esiphezulu: hhayi ngaphansi kuka-4m/s
12. Ukwehla okuphezulu: 30 °
13. Isixhumi samandla: 5V, 12V * 3, 24V * 3
14. Isixhumi sokuxhumana: kufaka phakathi okungenani amachweba e-LAN ayi-6, amachweba e-USB ama-4 (2.0×2, 3.0×2), ukuxhumana kwenethiwekhi okungenantambo, njll.
15. Imodi yokuvikela: Ukuvikelwa kokuma okuphuthumayo okuthambile nokuqinile; Ukuvikelwa kokuwa okuphansi; I-alamu ye-voltage; I-alamu yokushisa okungaphezu kokushisa, irobhothi elinama-quadruped linenkinobho yokuma okuphuthumayo okubomvu okuqinile kwenkinobho eyodwa ngemuva; I-joystick interface ifakwe ukuvikelwa kokuma okuphuthumayo okuthambile kwenkinobho eyodwa; (Kudingeka izinto ezifanele zokufaka ubufakazi)
Ngesivinini esingu-1.2m/s, ibanga lokubhuleka akufanele lidlule u-0.4m. (Nikeza umbiko wokuhlola we-CEPRI)
17. Umsebenzi wezemidlalo: Inemisebenzi efana nokunyathela, ukuhamba, ukugijima, ukukhasa, njll. Uma iwa, ingakhuphuka ngokuzimela, ihambe iye emuva naphambili, kwesobunxele nakwesokudla, bese ijika endaweni yayo; Ukuphakama okuphezulu kwezitebhisi zokukhuphuka kungu-25cm, kanti i-engeli ephezulu yezitebhisi zokukhuphuka ingu-45°; Ingahamba endaweni efana nezinqwaba zamatshe amdaka kanye nezindawo zokwakha;
18. Ihlonyiswe ngokushintshashintshana kwezinyathelo eziningi: ukuhamba, ukugijima, ukumaka izitebhisi ezikhuphukayo neziphansi nge-laser, izitebhisi zezimboni ezikhuphukayo neziphansi, ngokushintshana kwezimpawu zezinhlobo zezitebhisi (ukuphakama kwezitebhisi okungu-25CM), ukuhamba emithambekeni nasemanxiweni (ukuhamba okusindayo okuzinzile), ukukhasa. (Nikeza izithombe zangempela zesibonisi sokulawula, futhi umkhiqizo ophumelelayo udinga ukuhlolwa endaweni)
19. Izinga lokuvikela lomshini wonke: IP67 futhi unikeze umbiko wokuhlola womuntu wesithathu (olinganiswa yirobhothi elinama-quadruped uma livuliwe)
20. Ikhamera ene-engeli ebanzi: amaphikseli ayizigidi ezimbili ebanga lezimboni;
21. I-Lidar: Ama-lidar angu-4 e-solid-state, ibanga lokuthola: ≥ 40m, ayakwazi ukubona indawo njengezitebhisi; Uma ihambisana nephakheji yesofthiwe yokuzulazula, indawo yokuzulazula ezenzakalelayo kanye nokugwema izithiyo ezinamandla kungafinyelelwa, okuvumela ukuzulazula okuwela phansi kanye nokuhamba phambili nangemuva ezindaweni ezincane nezingenakuzungeza, kanye nokuthola izithiyo ngaphambili nangemuva ngaphandle kwezindawo ezingaboni ukuze kugwenywe ukushayisana. Ifakwe ama-lidar amabili e-solid-state eMid 360 kanye nekhamera ebanzi ngaphambili, ingasetshenziswa ekuthuthukisweni kwe-SLAM kanye nemephu yendawo; Isekela ukumephu yendawo engu-2.5D kanye nokuhlela indawo; Ama-radar amabili e-solid-state eMid 360 ahlelwe ngemuva, i-FOV: Evundlile ≥ 360 °, eqondile ≥ 59 °; Isekela ukuqonda emuva kwezitebhisi kanye nokugwema izithiyo zangemuva; Isekela ukuzulazula emuva; (Umkhiqizo owinile udinga ukuhlolwa endaweni, futhi imidwebo yomklamo womkhiqizo nezithombe zangempela kudingeka zinikezwe njengobufakazi). Ukunemba kokubeka ukuzulazula okuphindaphindiwe ≤ 5cm.
22. Nikeza izincwajana zomkhiqizo ezinemininingwane, izincwajana zohlelo lokusebenza, izincwajana zokuthuthukisa, njll., nikeza amadokhumenti okuthuthukisa okwesibili kanye nezinqubo, futhi unikeze amadokhumenti okuthuthukisa okwesibili kanye nezinqubo. Uhlelo lokusebenza lwe-Universal Ubuntu, umtapo wolwazi wezibalo olulula ukuwusebenzisa, umtapo wolwazi werobhothi onezinqe, kanye nezinhlelo zokuthuthukisa. Sekela uhlelo lokusebenza lwe-ROS
23. Izinto: Amalunga nomzimba werobhothi elinama-quadruped konke kwenziwe ngensimbi, enezici zokumelana nokuguguleka kanye nesisindo esincane;
24. Ukulawula Okugcwele Amandla: Irobhothi elinama-quadruped lisebenzisa ubuchwepheshe bokulawula Okugcwele Amandla, elingenazo izinzwa ezinyaweni, futhi lisebenzisa ama-sole enjoloba aqinile angagugi futhi angashi;
2. Imodeli: I-TIGER-04;
3. Isisindo somshini wonke (ibhethri) akumele sidlule u-60kg;
4. Ubukhulu (ukuma): ≤ 100cm ubude, 47cm ububanzi, kanye no-65cm ukuphakama
5. Umthwalo: 20kg Umthwalo omkhulu: 85kg
6. Izinga lokushisa lokusebenza: - 20ºC ~ 55ºC
7. Umthamo webhethri: Ukusebenzisa ibhethri le-lithium elihlanganisiwe elisebenza kahle kakhulu elinomthamo ongu-22.4Ah kanye ne-voltage encane engu-72V; Amandla alinganiselwe ≥ 1600Wh; (Kudingeka izinto ezifanele zokufaka ugesi)
8. Usayizi wemodyuli ye-side swing kanye ne-hip joint ≤ 100mm × 85mm; Usayizi wemodyuli ye-dolo joint ≤ 124mm × 100mm; (Kudingeka izinto ezifanele zokuvikela)
9. Izinga lenkululeko lilonke: 12; Izinga lenkululeko lomlenze owodwa: 3
10. Izidingo zebanga: ibanga eliphezulu ngaphandle komthwalo lingu-15 km, ibanga eliphezulu elinomthwalo ongu-20 kg lingu-10 km; Ukukhuthazela komthwalo ongenalutho amahora angu-4, ukukhuthazela komthwalo ongu-20 kg amahora angu-2.5.
11. Isivinini esiphezulu: hhayi ngaphansi kuka-4m/s
12. Ukwehla okuphezulu: 30 °
13. Isixhumi samandla: 5V, 12V * 3, 24V * 3
14. Isixhumi sokuxhumana: kufaka phakathi okungenani amachweba e-LAN ayi-6, amachweba e-USB ama-4 (2.0×2, 3.0×2), ukuxhumana kwenethiwekhi okungenantambo, njll.
15. Imodi yokuvikela: Ukuvikelwa kokuma okuphuthumayo okuthambile nokuqinile; Ukuvikelwa kokuwa okuphansi; I-alamu ye-voltage; I-alamu yokushisa okungaphezu kokushisa, irobhothi elinama-quadruped linenkinobho yokuma okuphuthumayo okubomvu okuqinile kwenkinobho eyodwa ngemuva; I-joystick interface ifakwe ukuvikelwa kokuma okuphuthumayo okuthambile kwenkinobho eyodwa; (Kudingeka izinto ezifanele zokufaka ubufakazi)
Ngesivinini esingu-1.2m/s, ibanga lokubhuleka akufanele lidlule u-0.4m. (Nikeza umbiko wokuhlola we-CEPRI)
17. Umsebenzi wezemidlalo: Inemisebenzi efana nokunyathela, ukuhamba, ukugijima, ukukhasa, njll. Uma iwa, ingakhuphuka ngokuzimela, ihambe iye emuva naphambili, kwesobunxele nakwesokudla, bese ijika endaweni yayo; Ukuphakama okuphezulu kwezitebhisi zokukhuphuka kungu-25cm, kanti i-engeli ephezulu yezitebhisi zokukhuphuka ingu-45°; Ingahamba endaweni efana nezinqwaba zamatshe amdaka kanye nezindawo zokwakha;
18. Ihlonyiswe ngokushintshashintshana kwezinyathelo eziningi: ukuhamba, ukugijima, ukumaka izitebhisi ezikhuphukayo neziphansi nge-laser, izitebhisi zezimboni ezikhuphukayo neziphansi, ngokushintshana kwezimpawu zezinhlobo zezitebhisi (ukuphakama kwezitebhisi okungu-25CM), ukuhamba emithambekeni nasemanxiweni (ukuhamba okusindayo okuzinzile), ukukhasa. (Nikeza izithombe zangempela zesibonisi sokulawula, futhi umkhiqizo ophumelelayo udinga ukuhlolwa endaweni)
19. Izinga lokuvikela lomshini wonke: IP67 futhi unikeze umbiko wokuhlola womuntu wesithathu (olinganiswa yirobhothi elinama-quadruped uma livuliwe)
20. Ikhamera ene-engeli ebanzi: amaphikseli ayizigidi ezimbili ebanga lezimboni;
21. I-Lidar: Ama-lidar angu-4 e-solid-state, ibanga lokuthola: ≥ 40m, ayakwazi ukubona indawo njengezitebhisi; Uma ihambisana nephakheji yesofthiwe yokuzulazula, indawo yokuzulazula ezenzakalelayo kanye nokugwema izithiyo ezinamandla kungafinyelelwa, okuvumela ukuzulazula okuwela phansi kanye nokuhamba phambili nangemuva ezindaweni ezincane nezingenakuzungeza, kanye nokuthola izithiyo ngaphambili nangemuva ngaphandle kwezindawo ezingaboni ukuze kugwenywe ukushayisana. Ifakwe ama-lidar amabili e-solid-state eMid 360 kanye nekhamera ebanzi ngaphambili, ingasetshenziswa ekuthuthukisweni kwe-SLAM kanye nemephu yendawo; Isekela ukumephu yendawo engu-2.5D kanye nokuhlela indawo; Ama-radar amabili e-solid-state eMid 360 ahlelwe ngemuva, i-FOV: Evundlile ≥ 360 °, eqondile ≥ 59 °; Isekela ukuqonda emuva kwezitebhisi kanye nokugwema izithiyo zangemuva; Isekela ukuzulazula emuva; (Umkhiqizo owinile udinga ukuhlolwa endaweni, futhi imidwebo yomklamo womkhiqizo nezithombe zangempela kudingeka zinikezwe njengobufakazi). Ukunemba kokubeka ukuzulazula okuphindaphindiwe ≤ 5cm.
22. Nikeza izincwajana zomkhiqizo ezinemininingwane, izincwajana zohlelo lokusebenza, izincwajana zokuthuthukisa, njll., nikeza amadokhumenti okuthuthukisa okwesibili kanye nezinqubo, futhi unikeze amadokhumenti okuthuthukisa okwesibili kanye nezinqubo. Uhlelo lokusebenza lwe-Universal Ubuntu, umtapo wolwazi wezibalo olulula ukuwusebenzisa, umtapo wolwazi werobhothi onezinqe, kanye nezinhlelo zokuthuthukisa. Sekela uhlelo lokusebenza lwe-ROS
23. Izinto: Amalunga nomzimba werobhothi elinama-quadruped konke kwenziwe ngensimbi, enezici zokumelana nokuguguleka kanye nesisindo esincane;
24. Ukulawula Okugcwele Amandla: Irobhothi elinama-quadruped lisebenzisa ubuchwepheshe bokulawula Okugcwele Amandla, elingenazo izinzwa ezinyaweni, futhi lisebenzisa ama-sole enjoloba aqinile angagugi futhi angashi;
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