RaspRover Open-source 4WD AI Robot, Dual controllers, All-metal Body, Computer Vision, Suitable for Raspberry Pi 4B / Raspberry Pi 5

WIKI: www.waveshare.com/wiki/RaspRover

PACKAGE CONTENT

Weight: 1.571 kg

RaspRover PT PI4B AI Kit

RaspRover PT PI5 AI Kit

DESCRIPTION

RaspRover Open-Source 4WD AI Robot, Dual Controllers, Flexible And Expandable, All-Metal Body, Computer Vision, Comes With Interactive Tutorials, Suitable For Raspberry Pi 4B / Raspberry Pi 5

RaspRover

Open-Source 4WD AI Robot, Small Size & Powerful
Offers More Creative Potential And Possibilities For You

Features At A Glance

The RaspRover is an AI robot designed for exploration and creation, seamlessly connecting your imagination with reality. Suitable for tech enthusiasts, makers, or beginners in programming, it is your ideal choice for exploring the world of intelligent technology.

Equipped with the high-performance Raspberry Pi computer to meet the challenges of complex strategies and functions, and inspire your creativity. Adopts dual-controller design, combines the high-level AI functions of the host controller with the high-frequency basic operations of the sub controller, making every operation accurate and smooth.

Easy to be controlled remotely via RaspRover Web Application without downloading any software, just open your browser and start your journey. Supports high-frame rate real-time video transmission and multiple AI Computer Vision functions, the RaspRover is an ideal platform to realize your ideas and creativity!

Kit Selection

Optional Pan-Tilt Camera Module (PT Version only) for better expansion potential. Options for host controller (Raspberry Pi 4B / Raspberry Pi 5), or you can choose the Acce Version if you've got a Pi. All kits are equipped with a camera, mounting accessories, TF card, cooling fan, etc.

MODEL	RaspRover PT PI4B/PI5 AI Kit	RaspRover PT PI4B/PI5 AI Kit Acce	RaspRover PI4B/PI5 AI Kit	RaspRover PI4B/PI5 AI Kit Acce
DIMENSION	172.40×182.91×251.25mm		172.40×182.91×132.13mm
WEIGHT	1330±5g	1283±5g	1054±5g	1007±5g
CHASSIS HEIGHT	33.70mm
PAN-TILT DOF	2		-
PAN-TILT SERVO TORQUE	20KG.CM		-
PAN-TILT SERVO	ST3215 Servo		-
HOST CONTROLLER	RPi 4B 4GB / RPi 5 4GB	NOT included	RPi 4B 4GB / RPi 5 4GB	NOT included
HOST SYSTEM SUPPORT	Debian Bookwrom
ROS2 VERSION	ROS2-HUMBLE-LTS
CAMERA FOV	160°
POWER SUPPLY	3S UPS Module
BATTERY SUPPORT	18650 lithium battery x 3 (NOT included)
DEMO CONTROL METHODS	Web application / Jupyter Lab interactive programming
DEFAULT MAX SPEED	0.65m/s
NUMBER OF DRIVING WHEELS	4
TIRE DIAMETER	80mm
TIRE WIDTH	42.5mm
MINIMUM TURNING RADIUS	0M (In-situ rotation)

Based On Raspberry Pi

Supports Raspberry Pi 5 / Raspberry Pi 4B, Offering Powerful Computing Performance For More Possibilities

Connecting with Raspberry Pi 4B

Connecting with Raspberry Pi 5

CSI Camera for Raspberry Pi 4B

USB Camera for Raspberry Pi 5

Dual-Controller Design, Provides Efficient Collaboration And Upgraded Performance

The Host Controller Adopts Raspberry Pi For AI Vision And Strategy Planning, And The Sub Controller Uses ESP32 For Motion Control And Sensor Data Processing

360° Flexible Omnidirectional Pan-Tilt

Equipped With 5MP 160° Wide-Angle Camera For Capturing Every Detail

The Pan-Tilt adopts high-speed bus servos for better control experience as FPS games

Suitable For Tactical Extension

Comes With 21mm Wide Rail And 20KG.CM High-Torque & 106RPM High-Speed Bus Servo For Tactical Extension

for reference only, the accessories in the picture above are NOT included

Continuing The Adventure As Night Falls

High-Brightness LED Light For Ensuring Clear Images In Low-Light Conditions

(* the LED light is only available on PT version)

Easy To Control Via
Cross-Platform Web Application

No App Installation Required, Allows Users To Connect And Control The Robot Via Mobile Phones, Tablets And Computers Via Browser Web App. Supports Shortcut Key Control Such As WASD And The Mouse Via A PC With Keyboard

Real-Time Wireless Transmission Of High Frame Rate Video

Adopts Flask Lightweight Web Application, Supports Real-Time Transmission Of High-Frame Rate Video And Digital Zoom. Based On Python And Easy To Extend, Working Seamlessly With OpenCV

Recognition, Tracking, And Targeting

Based On OpenCV To Achieve Color Recognition And Automatic Targeting. Supports One-Key Pan-Tilt Control And Automatic LED Lighting, Allows Expansion For More Functions

Automatically creates a hotspot for accessing when there is no available network connection after powering on

Built in high-efficient active cooling for long-time operation of the host controller even when compiling complex ROS2 packages

OLED display for real-time information displaying

Supports expanding external battery set via DC5521 port

Multi-Functional Driver Board

• Used as the sub controller of the robot, onboard ESP32 module and can be controlled via serial port, http request, ESP-NOW and other communication protocols, provides a web application for some basic control of the robot.
• ESP32 can handle low-level computations for the robot, such as high-frequency PID controller for controlling wheel speed, high-frequency inverse kinematics calculations for robotic arm linkages, position interpolation calculation, Pan-Tilt angle control and OLED screen control, etc.
• ESP32 is also responsible for data reading of various sensors, such as IMU (9-axis attitude sensor) and INA219 (battery voltage detection), and can independently achieve the camera vertical stabilization function, effectively saving computing and IO resources for the host controller.

1. ESP32 module
2. ESP32 module antenna connector
3. Motor control interfaces
4. INA219
   Battery voltage detection IC
5. Power supply
6. USB communication / downloading
7. Lidar USB connector
8. ESP32-IO0 button
9. ESP32-EN button
10. I2C device interface

11. Lidar UART interface
12. Bus servo control interfaces
13. TB6612FNG
    Motor driver IC
14. Host controller 40PIN extended header
15. Host controller connection header
16. I2C device interface
17. ICM20948
    9-axis IMU attitude sensor
18. 12V switch controlled by ESP32-IO4
19. 12V switch controlled by ESP32-IO5

Audio Driver Board

• Audio driver board is designed for robot host controller, onboard USB interface, suitable for Raspberry Pi 4B / Raspberry Pi 5 and other motherboards, multi-system compatible.
• Adopts SSS1629A5 audio control chip, provides reliable audio input and output functions, supports USB interface communication, driver-free, plug and play. Onboard APA2068 audio amplifier chip, provides high-quality audio amplification to ensure clear and stable audio signal output.
• Integrated FE1.1S USB 2.0 HUB and CH340 chips for sending data from serial peripherals such as Lidar to the host controller via USB cable without occupying too many resources of the host.

1. Lidar UART to USB IC
2. USB HUB IC
3. Type-C port
4. Lidar UART Interface
5. 3.5mm AUX audio jack
6. APA2068KAI-TRG
   Audio amplifier IC

7. SSS1629A5
   Audio control IC
8. Cooling fan power supply header
9. Dual-track microphone
10. Dual-track speaker header

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