Tare da ci gaban fasaha da haɗin gwiwa a faɗin masana'antu, ana ɗaukar 2025 a matsayin "Shekarar Robotics." Duk masana'antar robotics tana fuskantar ci gaba mai girma, tare da yanayi daban-daban na aikace-aikace waɗanda ke haifar da hanyoyi daban-daban na fasaha da buƙatu ga software da hardware. Saboda haka, buƙatu da hanyoyin aiwatarwa don sarrafa motsi na ainihin lokaci sun bambanta. Ta hanyar amfani da zurfin fahimtar ɓangaren robotics, APQ ta ƙirƙiro mafita na inganta sarrafawa na ainihin lokaci da aka yi niyya.
01
Hanyoyin Fasaha ta Robot da Zaɓin Tsarin Sarrafawa
Robot ɗin ɗan adam mai ƙafa biyu yana da ƙira irin ta ɗan adam wadda ta fi dacewa da yanayin ƙasa mai sarkakiya da ayyukan da aka tsara na dukkan jiki. Waɗannan robot ɗin galibi suna buƙatar gatari 38 zuwa 70 na sarrafa motsi, wanda ke nufin buƙatun lokaci-lokaci masu girma da zagayowar sarrafawa har zuwa 1000Hz. APQ yana amfani da na'urori masu sarrafawa na X86 masu aiki tare da daidaita software don biyan waɗannan buƙatun lokaci-lokaci.
A akasin haka, robot masu ƙafafu ko na ƙasa suna amfani da ƙirar chassis mai sauƙi, suna ba da fa'idodi mafi girma a cikin sarrafa farashi, ingancin motsi, da tsawon lokacin batir. Waɗannan galibi suna da kusan digiri 30 na 'yanci da ƙarancin buƙata don kwamfuta ta ainihin lokaci, amma sun fi dacewa da amfani da wutar lantarki. Ga wannan rukuni, APQ yana amfani da dandamali masu ƙarancin wutar lantarki, masu araha kamar Intel® N97 ko J6412 don gina cikakkun mafita. Wannan yana daidaita ingancin wutar lantarki da farashi yayin da yake amfani da yanayin ci gaba mai wadata na dandamalin X86 don biyan buƙatu masu tsauri don aikin tsarin sarrafawa na ainihin lokaci, kwanciyar hankali, haɗin kai, da kuma ƙanƙantawa.
02
Nazarin Yanayin Inganta Sarrafa EtherCAT na APQ
Bayanin Aikace-aikace
Ana amfani da robot masu ƙafafu/tushe a cikin tsarin sarrafa hanya mai rikitarwa, haɗin kai mai sassauƙa, motsi mai jagora ga hangen nesa, da makamantansu. Tsarin sarrafawarsu dole ne ya goyi bayan:
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Sadarwar bas mai sauri ta EtherCATdon sarrafa servo mai aiki tare
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Tsarin aiki mai wahala na ainihin lokacidon amsawar ƙasa da daƙiƙa
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Tsarin masana'antu mai ƙanƙantaya dace da wayoyi masu ƙarfi ko sararin kabad
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Tashoshin jiragen ruwa masu faɗaɗawagami da tashoshin jiragen ruwa da yawa na serial da LAN don haɗakar wurare daban-daban
Wani abokin ciniki, wanda ke ƙirƙirar robot mai sassauƙa da yawa, yana buƙatar tallafin EtherCAT da babban aiki na gaske. Duk da haka, gwaji tare da dandamalin N97 da direbobin servo ya nuna cewa zagayowar sadarwa ta EtherCAT ba za ta iya kaiwa ƙasa da μs 50 ba, wanda hakan ya haifar da babban cikas ga samar da kayayyaki da yawa.
Tsarin Ingantawa na Ainihin Lokaci
Ta amfani da dandamalin N97 da J6412, APQ ta aiwatar da cikakken daidaitawar matakin tsarin a ainihin lokaci. Misalin tsari don dandamalin N97:
1. Canja wurin OS zuwa Linux Xenomai muhalli:
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Ubuntu 20.04 + Linux Kernel 5.15
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Faci na ainihin lokaci: Xenomai 3.2 (mai jituwa da LinuxCNC)
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An gwada jituwa don buƙatun gadon abokin ciniki (Kernel 4.19 + Xenomai 3.1)
Matakan Gyaran Lokaci-lokaci:
a) Daidaita BIOS
b) Inganta sigogin kernel na ainihin lokaci (ECI)
c) Daidaita sigogin Cmdline (ECI)
d) Tsarin tsarin OS mai zurfi
e) Ma'aunin Latency/Jitter
2. Tsarin Gwaji na Ainihin Lokaci na yau da kullun:
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Kayan aiki:Latency, Clocktest, LinuxCNC na gwaji
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Abubuwan da ake nufi:
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Latency: Matsakaicin jinkiri < 40μs
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Gwajin Agogo: Drift ≈ 0 (shafi na 3 kusa da sifili a sakamakon)
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Aiwatarwa:Zagaye da yawa na gwaji a cikin rukunin kayan aikin (gami da J6412 a kwatanta)
Sakamakon Gwaji:
A ƙarƙashin yanayin Linux Xenomai, lokacin zagayowar sarrafawa da jitter sun inganta sosai. Latency ya kasance ƙasa da 40μs a ko'ina, yayin da gwajin agogo ya kusan kusan sifili - biyan buƙatun aikace-aikace.
Sakamakon Aikace-aikacen Duniya ta Gaske
Sarrafa Hannun Robotic Multi-Axis
Kalubale:
Walda mai daidaitawa ta axis 8 tana buƙatar daidaitawar matakin μs; mafita na gargajiya sun haifar da kurakuran karkatarwa da kuma kuskuren hanya.
Ingantawa:
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J6412 tare da Ubuntu 20.04 + Xenomai 3.2
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4x Gigabit LAN kai tsaye zuwa sabis na EtherCAT
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Isolppus ya keɓe ainihin kayan aiki na lokaci-lokaci
Sakamako:
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Daidaito Daidaito:Gwajin agogo ≤ 0.05μs; Matsakaicin karkacewar hanya < 0.1mm
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Tabbatar da Lokaci-lokaci:Aiki na tsawon awanni 72, kololuwar jinkiri ≤ 38μs
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Rage Farashi:Kashi 35% ƙasa da farashi, kashi 60% ƙasa da ƙarfin i5
Sarrafa Motsin Kare Mai Rufe Huɗu
Kalubale:
Daidaitawar haɗin gwiwa mai ƙarfi 12 yana buƙatar amsawar matakin μs; jinkirin tsarin da ya gabata > 100μs ya haifar da rashin kwanciyar hankali
Ingantawa:
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N97 + Xenomai 3.2
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PREEMPT_RT + facin ECI
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An ware Cmdline 2 CPU cores don ayyukan servo
Sakamako:
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Ƙarancin Latency:Zagayen sarrafawa a cikin 500μs, jinkirin ≤ 35μs
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Ƙarfi:Gwajin murmurewa a cikin -20°C, jitter < ±8μs
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Faɗaɗawa:Na'urar firikwensin IMU ta hanyar M.2; tana adana wutar lantarki kashi 60% fiye da mafita mai tushen i3
Zaɓuɓɓukan Shigarwa
Ga abokan ciniki masu ƙwarewa a fasaha waɗanda suka mai da hankali kan aiki a ainihin lokaci, APQ ta ba da shawararLinux + Xenomaitura kaya. Ga masu amfani da suka fi son sauƙin amfani a waje, APQ kuma yana bayar dahotunan tsarin da aka riga aka shigar da su kuma aka inganta sutare da takardun gyara kurakurai - rage shingayen shigarwa.
Yayin da robot ke ƙara maye gurbin ayyukan hannu,tsarin sarrafawa na lokaci-lokaci, kwanciyar hankali, da kuma tsarin sarrafawa mai ingancizama muhimmi ga nasara. APQ tana biyan wannan buƙata ta hanyar haɗa hanyoyin haɗin software na hardware kuma za ta ci gaba da zurfafa mai da hankali kan sarrafa kwamfuta da motsi na robotic - ƙarfafa ƙarin abokan ciniki na masana'antu tare da dandamali masu ɗorewa, inganci, da sauƙin haɗawa.
Idan kuna sha'awar kamfaninmu da kayayyakinmu, ku tuntuɓi wakilinmu na ƙasashen waje, Robin.
Email: yang.chen@apuqi.com
WhatsApp: +86 18351628738
Lokacin Saƙo: Yuli-28-2025