Advertisement
Quick Links
Advertisement
Subscribe to Our Youtube Channel
Related Manuals for Quanser QCar
Summary of Contents for Quanser QCar
- Page 1 QCar System Hardware User Manual �� 1.0 − 9��ℎ ������ 2023...
- Page 2 You must keep intact all copyright notices for the Work and provide the name Quanser Inc. for attribution. These restrictions may not be waved without express prior written permission of Quanser Inc.
-
Page 3: Table Of Contents
Table of Contents A. Hardware Components i. NVIDIA JETSON TX2 ii. LiDAR iii. Intel RealSense D435 Camera iv. 360° CSI Camera Suite v. Drive Motor and Steering Servo vi. Encoder vii. Battery viii. IMU ix. Dimensions x. PCB and integrated Data Acquisition (DAQ) B. -
Page 4: Hardware Components
A. Hardware Components The main QCar components are listed in Table 1. These components are ID marked in Figure 1, which presents the front, rear, left and right views of the QCar platform. Component Component RPLiDAR A2 Front bumper Intel RealSense RGBD camera... -
Page 5: Nvidia Jetson Tx2
Figure 1. QCar Platform Components i. NVIDIA JETSON TX2 The QCar is powered by an onboard NVIDIA Jetson TX2 with 256 Cuda Cores and an NVIDIA Pascal GPU architecture. It also features a Dual-Core NVIDIA Denver 2 64-Bit CPU along with a Quad-Core ARM®... -
Page 6: Lidar
RPLiDAR A2 Figure 3. RP-LiDAR A2 This LiDAR uses a 5-pin serial connector, connected to the J17 port on the QCar’s DAQ card. NOTE: The 7-pin serial port J24 can also be used for other LiDARs such as the RPLiDAR A1, although only one of the J17 or J24 ports can be used at any given time. -
Page 7: Intel Realsense D435 Camera
Intel RealSense D435 Camera The QCar platform comes equipped with an Intel RealSense D435 RGB-D camera. It includes an IR projector and two IR imagers, making this unit a stereo tracking solution. The camera can provide RGB, Infrared (left and right) and depth streams of data at frame rates and resolutions summarized in Table 3, as well as at fields of view in Table 4. -
Page 8: 360° Csi Camera Suite
Table 4. Intel RealSense D435 field of view iv. 360° CSI Camera Suite The QCar platform provides 360° of vision through the placement of four 8MP 2D CSI cameras (Figure 5a) at the front, left, rear and right side of the vehicle. Each camera has a wide-angle lens providing up to 160°... - Page 9 �� axis points upwards, and the �� axis points towards the left side of the vehicle, as shown in Figure 6b. As a result, the rotation matrix part of each extrinsic matrix has a determinant of −1. For virtual QCar, all distances are 10x. Front_axle_to_body...
-
Page 10: Drive Motor And Steering Servo
Body frame {��} Figure 6. Camera and body reference frames used in the extrinsic matrices As an example, a point A located on the floor 1m ahead of the QCar is expressed in front CSI camera frame as ��... -
Page 11: Encoder
Table 7. vi. Encoder The QCar platform includes a pre-gearing encoder used to measure the angular position of the drive motor. This US Digital E8T-720-125 single-ended optical shaft encoder provides 720 counts per revolution or 2880 counts per revolution in quadrature mode. The encoder’s datasheet can be found included. -
Page 12: Battery
HIL API. vii. Battery The QCar platform uses a 3S (3-cell 11.1 Volts) 3300 mAh capacity lithium polymer (LiPo) battery (Figure 7a) with a female XT-60 connector. More information on the provided battery is summarized in Table 8. The battery can be charged using the provided EV-Peak E4 charger (Figure 7b). - Page 13 (including smoke hazard) will not endanger life or property. Do not charge LiPo batteries near flammable materials, liquids or objects. Caution: Prior to using the QCar 2, visually check the battery for bloating or damage. If the battery exhibits bloating DO NOT USE it.
- Page 14 Note: If you require additional batteries, please contact Quanser. If you are using batteries not supplied by Quanser, ensure that the connection and polarity match. Caution: Never charge the LiPo battery in a moving vehicle.
- Page 15 Caution: Do not charge LiPo batteries near flammable materials, liquids or objects. Caution: Ensure that charging leads are connected correctly. Reversing polarity charging can lead to battery damage, fire or explosion. Caution: A LiPo battery fire is a chemical fire. Have a suitable fire extinguisher (class D/for electrical fires) or a large bucket of dry sand near the charging area.
-
Page 16: Imu
Resolution of 0.3 μT/LSB Table 10. IMU specifications on the QCar ix. Dimensions The QCar is based on a 1/10th scale platform (i.e., Traxxas 4-Tec 2.0). Its dimensions have been summarized in 11. The wheelbase and track are shown in Figure 8. Item... -
Page 17: Pcb And Integrated Data Acquisition (Daq)
Figure 8. QCar wheelbase and track x. PCB and integrated Data Acquisition (DAQ) The QCar PCB is equipped with a wide array of components to support expanded I/O capabilities. These components are summarized in Table 12 and displayed in Figure 9. These I/O include: 1. - Page 18 J20 (SPI and UART) [20 pin] ★ Recovery (DO NOT USE UNLESS J21 (SPI) [5 pin] INSTRUCTED BY QUANSER) ★ TX2 Reset J23 (steering servo motor) [3 pin] ★ Table 12. QCar PCB components ( See Figure 10 for pin diagram)
- Page 20 Figure 9. QCar PCB components Figure 10. Pin I/O diagram (max current - 5A for 5V pins, 5A for 3.3 V pins, 0.2A for 1.8V pins)
-
Page 21: Environmental
B. Environmental The QCar is designed to function under the following environmental conditions: ● Standard rating ● Indoor use only ● Temperature 5 ◦ C to 40 ◦ ● Altitude up to 2000 m ● Maximum relative humidity of 80% up to 31 ◦... - Page 22 © Quanser Inc. All rights reserved. Solutions for teaching and research. Made in Canada.
Need help?
Do you have a question about the QCar and is the answer not in the manual?
Questions and answers