diff --git a/docs/leo-rover/00-specification.mdx b/docs/leo-rover/00-specification.mdx index a34ec339..499f7032 100644 --- a/docs/leo-rover/00-specification.mdx +++ b/docs/leo-rover/00-specification.mdx @@ -1,57 +1,81 @@ --- -title: Leo Rover 1.8 Developer Kit specification +title: Leo Rover specification sidebar_label: Specification --- import ThemedImage from '@theme/ThemedImage'; import useBaseUrl from '@docusaurus/useBaseUrl'; +import Tabs from '@theme/Tabs'; +import TabItem from '@theme/TabItem'; +import Admonition from '@theme/Admonition'; + +# Leo Rover specification +
+ Leo Rover 1.8 +
+ +## Size and Performance + +**Weight:** 6,5 kg \ +**Dimensions:** 425x448x305 mm + +**Maximum linear speed:** ~0.4m/s \ +**Maximum angular speed:** ~60 deg/s + +**Estimated maximum obstacle size:** 70mm \ +**Protection rating:** IP55 compliant \ +**Run time:** Estimated 4 hours of nominal driving \ +**Connection range:** Up to 100m (with live video stream) + +### Dimensions + +
+ +
+ +### Payload + +**Payload capacity:** ~5 kg \ +**Upper mounting platform dimensions:** 299 x 183 mm \ +**Hole grid:** 18 x 15 mm \ +**Holes:** 40 x Φ7mm + 22 x Φ5,5mm + +#### Connection interfaces + +- miniUSB waterproof socket +- WiFi access point -# Leo Rover 1.8 Developer Kit specification - -## Dimensions - - - -## Size - -Weight: 6,5 kg \ -Dimensions: 425x448x305 mm \ -Payload capacity: 5 kg - -## Upper platform mounting dimensions - -Dimensions: 299 x 183 mm \ -Hole grid: 18 x 15 mm \ -Holes: 40 x Φ7mm + 22 x Φ5,5mm - -## Electronics - -Raspberry Pi 4B as an on-board computer \ -LeoCore as a real-time microcontroller - -## Performance - -Estimated maximum obstacle size: 70mm \ -Protection rating: IP55 compliant \ -Connection range: Up to 100m (with live video stream) +## Components -## Wheels +### Wheels -Motors: 4 x in-hub DC motor with 73.2:1 planetary gearbox and 12 PPR encoder \ -Wheel diameter: 130 mm \ -Tire material: rubber with foam insert (non-pneumatic) +**Motors:** 4 x in-hub DC motor with 73.2:1 planetary gearbox and 12 PPR encoder \ +**Tire material:** rubber with foam insert (non-pneumatic) \ +**Inner rim diameter:** 71 mm \ +**Outer tire diameter:** ~130 mm \ +**Tire width:** ~70 mm -## Battery +### Battery Voltage: 11.1 V DC \ -Capacity: 5000 mAh \ +Capacity: 5800 mAh \ Type: 3S Li-Ion with internal BMS \ Safety features: - Short-circuit @@ -61,49 +85,151 @@ Safety features: Max. current: 8A (total for whole Rover) \ Estimated 4 hrs battery life (nominal driving) -## Camera +### Camera Camera resolution: 5 MPx \ Lens: Fisheye with 160 degree diagonal field of view (IR non-filtered; night-vision allowed) -## Network +### Network WiFi 2.4 or 5 GHz access point with external antenna \ WiFi 2.4 or 5 GHz on internal RPi antennas for connectivity -## Software - - +### Electronics + + + + Raspberry Pi 4B as an on-board computer \ + LeoCore as a real-time microcontroller + + #### Internal open interfaces + + Raspberry Pi: + - USB x2 + - GPIO x20 + - RJ45 Ethernet + - RPi display port + - Bluetooth 5.0 with BLE + + + + Raspberry Pi 3B+ as an on-board computer \ + Core2-ROS as real-time microcontroller: STM32F4 (@168MHz, 192KB RAM, 1MB Flash) + + #### Internal open interfaces + + TODO + + + +## Hardware structure + + + +
+ +
+ + ### LeoCore controller + + Leo Rover since version 1.8 is based on the LeoCore electronics board which, + together with the Raspberry Pi computer, controls all the Rover's functionalities. + + (LeoCore photo) TODO + + To make it easier, we listed all the interfaces used by Leo Rover as default. + Just to make sure you don't interfere with them when developing. + + (LeoCore interfaces table) TODO + + + Take into concideration during the Rover assembly and development. + + The board corner where there's power connector and power-related components tends to interfere + with sensitive electronics such as wheel encoders. Make sure the encoder cables don't run on top of + the corner. + + + +
+ +
+ + + +## Software structure + + + +
+ +
+ + +
+ +
+ + ### Operating system -Ubuntu 20.04 + ROS Noetic + + + Ubuntu 20.04 + ROS Noetic -Alternatively: \ -Ubuntu 22.04 + ROS2 Humble + Alternatively: \ + Ubuntu 22.04 + ROS2 Humble + + + Ubuntu 16.04 + Robot Operating System (ROS) + + +:::info Ready-to-go UI located under '10.0.0.1' when using standard Leo Software Image. +::: -## Connection interfaces +### Firmware -### Externally avaliable +TODO -- mini USB socket -- WiFi access point +### ROS nodes -### Internal open interfaces +TODO -Raspberry Pi: -- USB x2 -- GPIO x20 -- RJ45 Ethernet -- RPi display port -- Bluetooth 5.0 with BLE +### Web user interface (UI) +TODO diff --git a/static/img/docs_images/leo-rover-pre1.8_hardware-diagram_black.webp b/static/img/docs_images/leo-rover-pre1.8_hardware-diagram_black.webp new file mode 100644 index 00000000..aed0cb74 Binary files /dev/null and b/static/img/docs_images/leo-rover-pre1.8_hardware-diagram_black.webp differ diff --git a/static/img/docs_images/leo-rover-pre1.8_hardware-diagram_white.webp b/static/img/docs_images/leo-rover-pre1.8_hardware-diagram_white.webp new file mode 100644 index 00000000..eab67637 Binary files /dev/null and b/static/img/docs_images/leo-rover-pre1.8_hardware-diagram_white.webp differ diff --git a/static/img/docs_images/leo-rover-pre1.8_software-diagram_black.webp b/static/img/docs_images/leo-rover-pre1.8_software-diagram_black.webp new file mode 100644 index 00000000..41552c64 Binary files /dev/null and b/static/img/docs_images/leo-rover-pre1.8_software-diagram_black.webp differ diff --git a/static/img/docs_images/leo-rover-pre1.8_software-diagram_white.webp b/static/img/docs_images/leo-rover-pre1.8_software-diagram_white.webp new file mode 100644 index 00000000..79ac2046 Binary files /dev/null and b/static/img/docs_images/leo-rover-pre1.8_software-diagram_white.webp differ diff --git a/static/img/docs_images/leo-rover-v1.8_hardware-diagram_black.webp b/static/img/docs_images/leo-rover-v1.8_hardware-diagram_black.webp new file mode 100644 index 00000000..316b9fc0 Binary files /dev/null and b/static/img/docs_images/leo-rover-v1.8_hardware-diagram_black.webp differ diff --git a/static/img/docs_images/leo-rover-v1.8_hardware-diagram_white.webp b/static/img/docs_images/leo-rover-v1.8_hardware-diagram_white.webp new file mode 100644 index 00000000..60fbba1c Binary files /dev/null and b/static/img/docs_images/leo-rover-v1.8_hardware-diagram_white.webp differ diff --git a/static/img/docs_images/leo-rover-v1.8_software-diagram_black.webp b/static/img/docs_images/leo-rover-v1.8_software-diagram_black.webp new file mode 100644 index 00000000..5e05210b Binary files /dev/null and b/static/img/docs_images/leo-rover-v1.8_software-diagram_black.webp differ diff --git a/static/img/docs_images/leo-rover-v1.8_software-diagram_white.webp b/static/img/docs_images/leo-rover-v1.8_software-diagram_white.webp new file mode 100644 index 00000000..3e0d4dae Binary files /dev/null and b/static/img/docs_images/leo-rover-v1.8_software-diagram_white.webp differ diff --git a/static/img/docs_images/leo-rover_software-diagram-black.webp b/static/img/docs_images/leo-rover_software-diagram-black.webp deleted file mode 100644 index 8fe995b6..00000000 Binary files a/static/img/docs_images/leo-rover_software-diagram-black.webp and /dev/null differ diff --git a/static/img/docs_images/leo-rover_software-diagram-white.webp b/static/img/docs_images/leo-rover_software-diagram-white.webp deleted file mode 100644 index 0c444439..00000000 Binary files a/static/img/docs_images/leo-rover_software-diagram-white.webp and /dev/null differ