1 Depth Camera
D435i Depth Camera
The PM01-EDU is equipped with a D435i depth camera on the head, providing the robot with excellent visual perception capabilities:
- precise spatial perception and obstacle detection
- 3D environment reconstruction
- suitable for navigation, obstacle avoidance, and other application scenarios |
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The field of view parameters of the depth camera are as follows:
2 IMU Module
2.1 Core Parameters
2.1.1 Attitude Angle Parameters
| Parameters | Item | Typical Value | Notes |
|---|
| Roll Angle | Accuracy | 0.05° | 1σ RMS, measured at 25°C, static/no prolonged acceleration |
| Range | ±180° |
|
| Pitch Angle | Accuracy | 0.05° | 1σ RMS, measured at 25°C, static/no prolonged acceleration |
| Range | ±90° |
|
| Reference-free Heading Angle | Accuracy | 0.2° | 1σ RMS, measured at 25°C, heading defaults to 0° at power-on |
| Range | ±180° |
|
| Magnetic Reference Heading Angle | Accuracy | 1° | 1σ RMS, requires stable magnetic field and on-site calibration of magnetic sensor |
| Range | ±180° |
|
| Angular Resolution |
| 0.001° | Minimum detectable change within sensor range |
2.1.2 Gyroscope Parameters
| Parameters | Typical Value | Notes |
|---|
| Range | ±450°/s |
|
| Non-linearity | ±0.05%FS |
|
| Noise Density | 0.015°/s/√Hz |
|
| Bias Instability | 5°/h | Allan variance, 1σ |
| Bandwidth (-3dB) | 50Hz |
|
| Zero Offset | ±0.5°/s | 1σ RMS |
| Zero Drift | ±1°/s | 1σ RMS, -40~85℃ |
2.1.3 Accelerometer Parameters
| Parameters | Typical Value |
|---|
| Range | ±16g |
| Non-linearity | ±0.1%FS |
| Noise Density | 100ug/√Hz |
| Bias Instability | 0.035mg |
| Bandwidth (-3dB) | 50Hz |
| Zero Offset | ±20mg |
| Zero Drift | ±10mg |
2.1.4 Magnetic Sensor Parameters
| Parameters | Typical Value | Notes |
|---|
| Range | ±8Gauss | |
| Non-linearity | ±0.1%FS | FS = ±8G |
| Noise | 0.4mGauss | RMS |
2.1.5 Physical and Electrical Specifications
| Parameters | Typical Value | Notes |
|---|
| Input Voltage | 5VDC | Noise ≤30mV peak-peak |
| Power Consumption | 190mW | @5V |
| Communication Interface | UART / USB | UART corresponds to part number YIS320-E11, USB corresponds to YIS320-E30 |
| Output Protocol | Yesense YIS protocol | Yesense proprietary protocol |
| Output Frequency | 200Hz | Up to 400Hz |
| Dimensions | 22.4×22.4×9.4mm | |
| Weight | 7.7g | ±1g |
| Housing Material | Aluminum Alloy | |
2.1.6 Environmental Adaptability Specifications
| Parameters | Typical Value | Notes |
|---|
| Operating Temperature | -40~85℃ | |
| Storage Temperature | -45~85℃ | Relative Humidity ≤65% |
| Shock Resistance | 2000g | |
