TurtleBot4는 세계에서 가장 인기 있는 교육 및 연구용 오픈 소스를 갖춘 차세대 플랫폼으로 저렴한 가격에 더 나은 컴퓨팅 능력, 더 나은 센서 및 세계 최고 수준의 사용자 경험을 제공합니다.
TurtleBot4는 TurtleBot4 Standard와 TurtleBot4 Lite의 두 가지 모델로 출시됩니다.
| TurtleBot 4 | TurtleBot 4 Lite | |
| SIZE AND WEIGHT | ||
| EXTERNAL DIMENSIONS (LxWxH) | 341 x 339 x 351 mm (13.4 x 13.3 x 13.8 in) | 341 x 339 x 192 mm (13.4 x 13.3 x 7.5 in) |
| WEIGHT | 3.9 kg (8.6 lbs) | 3.3 kg (7.2 lbs) |
| WHEELS (Diameter) | 72 mm (0.55 in) | |
| GROUND CLEARANCE | 4.5 mm (0.17 in) | |
| SPEED AND PERFORMANCE | ||
| MAX PAYLOAD | 9 Kg – Default 15 kg – Custom Configuration | |
| MAX SPEED | 0.31 m/s (safe mode), 0.46 m/s (cliff sensors disabled) | |
| MAX ROTATIONAL SPEED | 1.90 rad/s | |
| BATTERY AND POWER SYSTEM | ||
| CHEMISTRY | 26 Wh Lithium Ion (14.4V nominal) Rechargable | |
| CHARGE TIME | 2.5 hrs | |
| OPERATINGTME | 2.5 – 4.0 hrs (load dependent) | |
| USER POWER | VBAT @ 300mA, 12V @TBD mA, 5V @ 500mA 3.3V @ 250mA | VBAT @ 1.9A (14.4V nominal) Low current 5V and 3.3V via Raspeberry Pi GPIO |
| DOCKING | Base station for docked charging | |
| SENSORS | ||
| 2D LIDAR | RPLIDAR-A1 0.15-12m range; 8kHz sampling rate; 360 degree angular range; 1 degree angular resolution. | |
| CAMERA | OAK-D-PRO 4K RGB auto focus camera (IMX378) Mono stereo camera pair (OV9282) IMU, Spatial AI processor IR Laser Dot Projector & Illumination LED | OAK-D-LITE 4K RGB auto focus camera (IMX214) Mono stereo camera pair (OV251) Spatial AI processor |
| OTHER SENSORS | 2x front bumper zones, 2x wheel encoders, 4x IR cliff sensors, 6x IR obstacle sensors, 1x downward optical flow sensor for odometry, 1x 3D gyroscope, 1x 3D accelerometer, 1x battery level monitor | |
| OTHER ACTUATORS | 2x Drive Motors, 6x RGB LED Ring 1x Speaker, 5 Status LEDs 2 User LEDs, 128×64 OLED Display | 2x Drive Motors, 6x RGB LED Ring 1x Speaker |
| COMPUTERS | ||
| COMPUTER | Raspberry Pi 4B (4 GB) | |
| SOFTWARE | Ubuntu 20.04, ROS 2 | |
