Power¶
Battery¶
- Goal: power all the electronics related to the robot's base platform (including motors, motor drivers, external devices of the user that may require DC power)
- Model: Tattu 10000mAh 11.1V 15C 3S LiPo Battery
- 11.1V makes it compatible to power the Faulhaber 2342 OEM DC motors (12V)
- 11.1V is also compatible to power the Arduino Mega 2560 (7-12V recommended, 6-20V limit), even though the microcontroller can be powered directly from the USB connection
Battery Management System (BMS)¶
- Goal: balance the voltage of the battery cells both when discharging and upon charging
- Model: 18650 BMS Charger 3S 12.6V 20A Rev. 2.0
- Compatible with 3S (three cells in series) batteries
- Compatible with the maximum voltage of each LiPo cell (4.2V)
DC/DC Buck-Boost Converter¶
- Goal: provide a regulated and adjustable DC power output for external devices (e.g., Ethernet switch, 3D LiDARs)
- Model: DC 5-30V to 1.25-30V 8A Buck Boost Converter
- Input voltage compatible with the output voltage of the LiPo battery
- Output voltage compatible with common voltage values such as 5V / 12V / 24V
Charging¶
Hangfa Discovery Q2
- A: charging connector
- B: 20A power fuse for electrical protection
- C: ON/OFF switch
Original Charger¶
Model: KXD-126300 Li-ion charger, 100~240VAC input, 12.6VDC @ 3.0A output
Warning
The original charger that comes with the platform may not be the most suitable for charging the LiPo battery. Even if the charger indicator turns green, it does not necessarily mean that charging has stopped, which could lead to overcharging and potentially swollen batteries.
- Turn OFF the Discovery Q2 platform
- Connect the charger to AC power (LED on the charger should turn green)
- Connect the charger output plug to the Discovery Q2 platform
- If the LED on the charger turns red, it is charging the platform
- Otherwise, the battery is fully charged
- Disconnect the charger from the platform when the battery is fully charged
LiPo Charger¶
- Model: LiPo Battery Charger LBC-011 (or any other charger specific for LiPo batteries)
- Turn OFF the Discovery Q2 platform
- Connect the charger to AC power (charger screen should turn on)
- Select the CHARGE mode (use the buttons Status to navigate through the available modes)
- If the charger is not configure for LiPo batteries
- Press (just one click!) Batt. Type button
- Select PROGRAM SELECT LiPo BATT (use the buttons Status to navigate through the available programs and settings)
- Press (just one click!) Enter
- If the charger is not configure for 3.0A 11.1V (3S) when in
CHARGE mode
- Press (just one click!) Enter button
- Use the buttons Status to adjust the charging current to 3.0A
- Press (just one click!) Enter button
- Use the buttons Status to select the 11.1V (3S) battery configuration
- Press (just one click!) Enter button
- Connect the charger output plug to the Discovery Q2 platform
- Long press on the Start button to start the charging
- Press (just one click!) Enter button to confirm the 11.1V (3S) battery configuration
- Charger should terminate automatically the charging when the battery is fully charged
- Press Stop button to stop the charging
- Disconnect the charger from the platform when the battery is fully charged
See the User Manual of the charger for more information on its configurations.
Power Budget¶
In terms of power budget, the modified platform considers different sensor configurations in terms of compatibility. As a result, the following power budgets are only examples for possible configurations that you may have in your modified platform.
2D Navigation (Low-cost 2D Lasers)¶
Total Power Budget handled by the LiPo Battery
| Source | Voltage (V) | Current (A) | Power (W) |
|---|---|---|---|
| 4 x Faulhaber 2342 OEM DC motors | 12V | 4 x 1.1A | 4 x 11W |
| 1 x Arduino Mega 2560 | 12V | 0.750A | - |
- Power Consumption: 53W (estimated)
- Current Consumption: 4.8A @ 11.1VDC
- Autonomy: > 2h05min
Note
- Faulhaber 2342 OEM DC motors 1.1A and 11W are the rated current and power, respectively (typically, given that robot carries a low load, should be much less than 1.1A continuously)
- Arduino Mega 2560 current consumption was considered the maximum one supported by the SPX1117M3-L-5-0/TR DC Regulator for the PWRIN power input (750mA)
- LD19 | RPLIDAR C1 | RPLIDAR S2 | YDLIDAR X4: all connect to the computing unit through USB connection, and the computing unit is powered by an independent power source / power bank
Total Power Budget handled by a 20000mAh 50W Power Bank for the Computing Unit
| Source | Voltage (V) | Current (A) | Power (W) |
|---|---|---|---|
| 1 x LattePanda 3 Delta | 15V | 3A | - |
- Power Consumption: 45W (estimated)
- Current Consumption: 3A @ 15VDC
- Autonomy: > 6h40min
Note
- LattePanda 3 Delta 3A is the current relative to its requirement in terms of USB-C Power Delivery (PD) compliant power banks (3A @ 15VDC)
2D Navigation (UST-10LX)¶
Total Power Budget handled by the LiPo Battery
| Source | Voltage (V) | Current (A) | Power (W) |
|---|---|---|---|
| 4 x Faulhaber 2342 OEM DC motors | 12V | 4 x 1.1A | 4 x 11W |
| 1 x Arduino Mega 2560 | 12V | 0.750A | - |
| 1 x Brainboxes SW-005 Ethernet Switch | 5-30V | - | 1.1W |
| 1 x Hokuyo UST-10LX | 10-30V | - | 3.6W @ 24VDC |
- Power Consumption: 57.7W (estimated)
- Current Consumption: 5.2A @ 11.1VDC
- Autonomy: > 1h55min
Note
- Faulhaber 2342 OEM DC motors 1.1A and 11W are the rated current and power, respectively (typically, given that robot carries a low load, should be much less than 1.1A continuously)
- Arduino Mega 2560 current consumption was considered the maximum one supported by the SPX1117M3-L-5-0/TR DC Regulator for the PWRIN power input (750mA)
- Brainboxes SW-005 Ethernet Switch 1.1W is the maximum power drawn
- Hokuyo UST-10LX current consumption of 0.150A (equivalent to the 3.6W @ 24VDC) is the nominal supply current
Total Power Budget handled by a 20000mAh 50W Power Bank for the Computing Unit
| Source | Voltage (V) | Current (A) | Power (W) |
|---|---|---|---|
| 1 x LattePanda 3 Delta | 15V | 3A | - |
- Power Consumption: 45W (estimated)
- Current Consumption: 3A @ 15VDC
- Autonomy: > 6h40min
Note
- LattePanda 3 Delta 3A is the current relative to its requirement in terms of USB-C Power Delivery (PD) compliant power banks (3A @ 15VDC)
3D Navigation (RS-HELIOS-5515, UST-10LX)¶
Total Power Budget handled by the LiPo Battery
| Source | Voltage (V) | Current (A) | Power (W) |
|---|---|---|---|
| 4 x Faulhaber 2342 OEM DC motors | 12V | 4 x 1.1A | 4 x 11W |
| 1 x Arduino Mega 2560 | 12V | 0.750A | - |
| 1 x Brainboxes SW-005 Ethernet Switch | 5-30V | - | 1.1W |
| 1 x Hokuyo UST-10LX | 10-30V | - | 3.6W @ 24VDC |
| 1 x RoboSense RS-HELIOS-5515 | 9-32V | - | 12W |
- Power Consumption: 69.7W (estimated)
- Current Consumption: 6.3A @ 11.1VDC
- Autonomy: > 1h35min
Note
- Faulhaber 2342 OEM DC motors 1.1A and 11W are the rated current and power, respectively (typically, given that robot carries a low load, should be much less than 1.1A continuously)
- Arduino Mega 2560 current consumption was considered the maximum one supported by the SPX1117M3-L-5-0/TR DC Regulator for the PWRIN power input (750mA)
- Brainboxes SW-005 Ethernet Switch 1.1W is the maximum power drawn
- Hokuyo UST-10LX current consumption of 0.150A (equivalent to the 3.6W @ 24VDC) is the nominal supply current
- RoboSense RS-HELIOS-5515 12W is the typicall power drawn by the sensor
Total Power Budget handled by a 20000mAh 50W Power Bank for the Computing Unit
| Source | Voltage (V) | Current (A) | Power (W) |
|---|---|---|---|
| 1 x LattePanda 3 Delta | 15V | 3A | - |
- Power Consumption: 45W (estimated)
- Current Consumption: 3A @ 15VDC
- Autonomy: > 6h40min
Note
- LattePanda 3 Delta 3A is the current relative to its requirement in terms of USB-C Power Delivery (PD) compliant power banks (3A @ 15VDC)
2D Navigation and RGBD Perception (UST-10LX, L515)¶
Total Power Budget handled by the LiPo Battery
| Source | Voltage (V) | Current (A) | Power (W) |
|---|---|---|---|
| 4 x Faulhaber 2342 OEM DC motors | 12V | 4 x 1.1A | 4 x 11W |
| 1 x Arduino Mega 2560 | 12V | 0.750A | - |
| 1 x Brainboxes SW-005 Ethernet Switch | 5-30V | - | 1.1W |
| 1 x Hokuyo UST-10LX | 10-30V | - | 3.6W @ 24VDC |
- Power Consumption: 57.7W (estimated)
- Current Consumption: 5.2A @ 11.1VDC
- Autonomy: > 1h55min
Note
- Faulhaber 2342 OEM DC motors 1.1A and 11W are the rated current and power, respectively (typically, given that robot carries a low load, should be much less than 1.1A continuously)
- Arduino Mega 2560 current consumption was considered the maximum one supported by the SPX1117M3-L-5-0/TR DC Regulator for the PWRIN power input (750mA)
- Brainboxes SW-005 Ethernet Switch 1.1W is the maximum power drawn
- Hokuyo UST-10LX current consumption of 0.150A (equivalent to the 3.6W at 24VDC) is the nominal supply current
Total Power Budget handled by a 20000mAh 50W Power Bank for the Computing Unit
| Source | Voltage (V) | Current (A) | Power (W) |
|---|---|---|---|
| 1 x LattePanda 3 Delta | 15V | 3A | - |
| 1 x Intel RealSense L515 | 5V | - | 3.3W |
- Power Consumption: 48.3W (estimated)
- Current Consumption: 3.2A @ 15VDC
- Autonomy: > 6h15min
Note
- LattePanda 3 Delta 3A is the current relative to its requirement in terms of USB-C Power Delivery (PD) compliant power banks (3A @ 15VDC)
- Intel RealSense L515 3.3W is the estimated power consumption of the sensor when in Depth (XGA) + RGB (1080p, 30FPS) operation mode