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W1-Kit Small Smart Skateboard Chassis Kit Instruction Manual
W1-Kit Small Smart Skateboard Chassis Kit Instruction Manual
W1-Kit Small Smart Skateboard Chassis Kit Instruction Manual
W1-Kit Small Smart Skateboard Chassis Kit Instruction Manual

W1-Kit Small Smart Skateboard Chassis Kit Instruction Manual

Thor-robotics

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Product Description：

THOR roboTiCS W1 Small Smart Skateboard Chassis is an autonomous driving development kit. It is based on the vehicle kinematics model to develop the control program of the control-by-wire chassis, including the perception layer, decision layer and control-by-wire system execution layer. Each module is connected through CAN signal communication, and the corresponding control interface is open, such as drive torque/speed, steering angular velocity/angle, brake pressure, etc., to meet the development and research of drive torque distribution, wire control braking, wire control steering, path planning, path tracking, driver model, chassis integrated control algorithm. Developers can operate directly on the actual vehicle to realize obstacle detection, high-precision map construction, multiple positioning, automatic start and stop, tracking driving, emergency braking, obstacle avoidance and other autonomous driving functions. The product includes a control-by-wire intelligent chassis and an autonomous driving development kit, which is mainly used to provide comprehensive functional secondary development such as vehicle control experiments of intelligent vehicle driving assistance systems and development experiments of intelligent vehicle driving assistance systems. The wire-controlled intelligent chassis can be displayed as a demonstration case of intelligent driving vehicles, which is convenient for customers to apply to various autonomous driving scene experiments, wire-controlled steering bench experiments, wire-controlled braking bench experiments, multiple sets of brake redundant bench experiments, and vehicle status data collection. At the same time, the intelligent driving multi-sensor harness and hardware construction platform are reserved. The autonomous driving sensor platform is equipped with a variety of autonomous driving sensors such as laser radar, ultrasonic radar, positioning module, camera, millimeter wave radar and industrial display screen, and can integrate the surrounding environment perception information according to the perception characteristics of different types of sensors to meet the autonomous driving function in specific scenarios. This page only provides the purchase of the user manual of THOR roboTiCS W1 Small Smart Skateboard Chassis, and does not provide complete UGV products. We have professional personnel who can assist you in the application and deployment of unmanned vehicles locally, please contact us. Main technical parameters (for more information, please see the function and configuration list) Chassis size: 2027*970*1610mm (length*width*height); Chassis wheelbase 1080mm; Curb weight 350kg±20kg, Full load weight 800kg; Power interface and voltage: meet 12V, 24V power supply requirements; Extended device communication interface (CAN bus interface) Maximum speed 20km/h; Maximum climbing grade 20%; Comprehensive cruising range at 20km/h ≥40km, standby time ≥40 hours; Speed ​​control response time <200ms, speed control accuracy is error ±0.5km/h, torque control accuracy is error ±0.2Nm

Product highlights:

  • 1. The chassis control interface is open source and expandable. The vehicle adopts the CAN2.0B standardized vehicle communication protocol and two CAN outputs. Data can be collected through CAN analyzers such as ZLG and Valuecan. Users can use the analyzer in combination with the bus protocol to independently control the following single systems (steering, braking, and driving);
  • 2. The speed control response time is <200ms, the speed control accuracy is ±0.5km/h, and the torque control accuracy is ±0.2Nm; the steering adopts the front axle Ackerman steering, the control mode is: speed/torque/position, the rated power is 460W, the response time: <100ms, the control accuracy: ±1°, and it has overload protection.
  • 3. The chassis is adaptive to the slope, and has functions such as uphill starting, anti-slipping, and active braking when going up and downhill; it supports long-distance remote control to complete driving, steering and parking functions, and the effective remote control distance in open areas is >500m; secondary development learning and research, reserve a variety of sensor harness hardware interfaces, and can develop and learn the torque loop, speed loop, brake pressure, and steering angle of intelligent vehicles;
  • 4. Equipped with a modular intelligent electrical system, using the automotive-grade vehicle controller VCU for central integrated management, and coordinated control between the actuators of the chassis; equipped with no less than 2 aviation CAN communication ports (aviation waterproof plug-ins), corresponding to the multi-channel CAN ports of the chassis; the front and rear of the vehicle are equipped with a lighting warning system, the lights can be automatically controlled, and the daytime running lights, left turn, right turn, brake and other conventional vehicle lighting warning functions can be realized;
  • 5. The front end needs to support multiple protocol communications and voltage power supply interfaces, plug and play, meet the use requirements of common laser radars, cameras and industrial computers, so as to support the development of unmanned vehicle upper system; the power battery system cell is lithium iron phosphate battery, with BMS battery management system and *4G remote background data monitoring platform, support CAN output, can read the main parameters of the battery, convenient for battery energy management, *BMS remote OTA software can be quickly upgraded through the background management system;
  • 6. The chassis frame adopts a steel main frame and an aluminum profile support, which is firm and reliable. The chassis and the upper body frame are designed with a quick-disassembly structure, which can be quickly modularized and separated, making it convenient to replace different upper body structures. The front and rear bumpers of the frame should have exterior coverings, and the side doors can be opened and closed for debugging. The chassis is equipped with a front and rear anti-collision strip system, and the vehicle will automatically brake in the event of a collision.
  • 7. The chassis adopts the design of front integral bridge steering trailing arm suspension and rear integral bridge trailing arm. The frame form: truss-type high-strength frame, the truss is a square tube spray-coated, the shell is a combination of ABS and acrylic, and the shell protection level is IP55.
  • 8. The chassis is equipped with a T-box vehicle networking control unit, which can monitor the information data of key chassis electrical components (VCU, wire-controlled steering, wire-controlled braking, BMS, motor controller), view the vehicle position and operating status in real time, and perform remote OTA software rapid upgrades on the chassis domain control VCU unit.
  • 9. The chassis is equipped with a TFT color LCD instrument with CAN communication function, which can display battery voltage, power, discharge current, total mileage, subtotal mileage, chassis fault code and other information in real time.