189 lines
7.6 KiB
Markdown
189 lines
7.6 KiB
Markdown
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## 规格参数
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### 底盘
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<table>
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<tr>
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<td width="20%">尺寸</td>
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<td>1040 mm*700mm *430 mm</td>
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<td>驱动形式</td>
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<td>双轮独立驱动</td>
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</tr>
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<tr>
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<td>轴距</td>
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<td>650mm</td>
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<td>转向形式</td>
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<td>阿卡曼转向</td>
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</tr>
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<tr>
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<td>轮距</td>
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<td>600mm</td>
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<td>悬挂形式</td>
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<td>四轮双叉臂式独立悬挂</td>
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</tr>
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<tr>
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<td>最大速度</td>
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<td>10km/h</td>
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<td>电池参数</td>
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<td>磷酸铁锂 90AH 24V</td>
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</tr>
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<tr>
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<td>总质量</td>
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<td>80kg</td>
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<td>续航时间</td>
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<td>12小时</td>
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</tr>
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<tr>
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<td>最小转弯半径</td>
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<td>1.2m</td>
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<td>续航里程</td>
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<td>80公里</td>
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</tr>
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<tr>
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<td>最大爬坡度</td>
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<td>30°</td>
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<td>编码器</td>
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<td>4096线</td>
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</tr>
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<tr>
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<td>离地高度</td>
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<td>110mm</td>
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<td>对外通信接口</td>
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<td>RS232</td>
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</tr>
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<tr>
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<td>驻车</td>
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<td>电子驻车</td>
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<td>防护等级</td>
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<td>IP54</td>
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</tr>
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<tr>
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<td>驱动电机</td>
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<td>500W</td>
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<td>对外供电</td>
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<td>24V</td>
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</tr>
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<tr>
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<td>转向电机</td>
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<td>250W</td>
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<td>遥控距离</td>
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<td>50M</td>
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</tr>
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</table>
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### 上位机（Orin NX）
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| 项目 | 规格 |
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|-------|-----------------------------------------|
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| 算力 | 100TOPS |
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| GPU | 32个Tensor核心1024核 |
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| CPU | 8核Arm Cortex-A78 2GHz |
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| 内存 | 16GB 128位LPDDR5 102.4GB/s |
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| 存储 | 128GB |
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| 视频编解码 | H.265 |
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| PCIe | 1X4+3X1 PCIe4.0 |
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| 显示接口 | HDMI2. 1 1x8K30DP |
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| 网卡 | 内置 |
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| I/O | USB3.0/SCI/I2C/CAN/DMIC/ DSPK/I2S/GPIOs |
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### 显示器
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| 项目 | 规格 |
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|-----|-----------|
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| 尺寸 | 13.3 英寸 |
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| 比例 | 16: 9 |
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| 分辨率 | 1920*1080 |
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| 亮度 | 300 cd/m² |
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| 对比度 | 800: 1 |
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| 触摸 | 否 |
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### 多线激光雷达（RS-Helios-16p）
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| 项目 | 规格 |
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|----------|------------------------------------------------------------|
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| 线数 | 16 |
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| 激光波长 | 905nm |
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| 激光安全等级 | Class 1 人眼安全 |
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| 测距能力 | 150m(90m@10% NIST) |
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| 盲区 | ≤0.2m |
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| 精度（典型值） | ±2cm(1m to 100m)<br>±3cm(0.1m to 1m)<br>±3cm(100m to 150m) |
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| 水平视场角 | 360° |
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| 垂直视场角 | 30°（-15°~＋15°) |
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| 水平角分辨率 | 0.2°/0.4° |
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| 垂直角分辨率 | 均匀 2° |
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| 帧率 | 10Hz/20 Hz |
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| 转速 | 600/1200rpm (10/20Hz) |
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| 出点数 | ~288,000pts/s(单回波)<br> ~576,000pts/s(双回波) |
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| UDP数据包内容 | 三维空间坐标<br>反射强度<br>时间戳等 |
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| 输出数据协议 | UDP packets over Ethernet |
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| 时间同步 | ≈ GPRMC with 1PPS，PTP&gPTP |
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### 卫星接收机（RTK580）
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| 项目 | 规格 |
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|------------|--------------------------------------|
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| 通道 | 1408 通道 |
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| 频点 | 5星多频<br>BDS、GPS、QZSS、GLONASS、Galileo |
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| 单点定位 (RMS) | 平面 1.5m 高程 2.5m |
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| RTK(RMS) | 平面 0.8cm+1ppm ；高程 1.5cm+1ppm |
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| 冷启动 | <30s |
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| RTK 初始化时间 | <5s( 典型值 ) |
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| 初始化可靠性 | >99.9% |
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| 差分通讯方式 | 免DTU模块 |
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| 差分数据 | RTCM 3.X |
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| 数据格式 | NMEA 0183 Unicore |
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| 定位测向数据更新率 | 20Hz |
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| 原始观测量数据更新率 | 20Hz |
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| 定向精度 (RMS) | 0.1° /1m 基线 |
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| 时间精度 (RMS) | 20ns |
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| 速度精度 (RMS) | 0.03m/s |
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| 双天线接口 | SMA公头外螺内孔 * 2 |
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| 通讯接口 | USB-Type-C |
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| 供电接口 | USB-Type-C/XT-30 |
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| 供电电压 | 5-15V |
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| 功耗 | 2.4W |
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| 尺寸 | 93mmx69mmx37mm |
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| 重量 | 153g |
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### 惯导（CH104M）
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| 项目 | 规格 |
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|------|-------------------------------------------------|
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| 姿态角 | 横滚/俯仰：0.2°<br>偏航（静态）：0.2°°<br>偏航（动态）：3° |
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| 陀螺仪 | 测量范围：±2000°/s <br>分辨率：0.01°/s<br>零偏稳定性：1.76°/hr |
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| 加速度计 | 测量范围：±8G <br>分辨率：1uG<br>零偏稳定性：30uG |
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| 磁传感器 | 测量范围：±8G(Gauss)<br>非线性度：±0.1%<br>分辨率：0.25mG |
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### 激光雷达（LD19）
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| 参数名称 | 单位 | 最小值 | 典型值 | 最大值 | 备注 |
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|:------|:-----|:------|:-----|:----|:-----------------------------------------|
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| 测距范围 | m | 0.02 | - | 12 | 70%目标反射率 |
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| 扫描频率 | Hz | 5 | 10 | 13 | 外部提供PWM 控速 |
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| 测距频率 | Hz | - | 4500 | - | 固定频率 |
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| 测距精度 | mm | - | - | - | 测距小于0.3m时，有数据输出。</br>测距数据变化趋势与实际距离变化趋势一致 |
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| 测距精度 | m | -45 | - | 45 | 测距范围在300mm到12000mm时，测量100次的平均值(70%漫反射面) |
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| 测距标准差 | mm | - | 10 | - | 测距范围在300mm到12000mm时 |
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| 测量分辨率 | mm | - | 15 | - | |
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| 角度误差 | ° | - | - | 2 | |
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| 角度分辨率 | ° | - | 1 | - | |
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| 抗环境光 | KLux | - | - | 30 | |
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| 整机寿命 | h | 10000 | - | - | |
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### 深度相机（Vzense DCAM710）
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| 项目 | 规格 |
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|----------|--------------------------|
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| 尺寸 | 103mmx33mmx22mm |
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| 传感器 | ToF CCD+RGB |
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| 激光发射器 | 940nm VCSEL |
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| ToF分辨率帧率 | 640X480, Max.30fps |
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| RGB分辨率帧率 | 1920X1080, 30fps |
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| ToF FOV | 69°(H) × 51°(V) |
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| RGB FOV | 73°(H)X42°(V) |
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| 输出格式 | RAW12(深度,IR), MJPEG(RGB) |
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| 检测距离 | 0.35m~4.4m |
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| 工作温度 | -10℃~50℃ |
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