Mai Kula da Sirrin Jiki na APQ TER40J-A6 a cikin Aikace-aikacen Robot ɗin Humanoid Mai Tafiya Biyu
Robot ɗin ɗan adam mai ƙafa biyu suna wakiltar ƙarshen fasahar leƙen asiri da aka ƙera. Siffarsu irin ta ɗan adam tana ba da damar daidaitawa da yanayin aiki na ɗan adam ba tare da wata matsala ba, yana ba su damar amfani da su a fannin samar da masana'antu, ayyukan kasuwanci, da ayyuka na musamman. Duk da haka, ƙalubalen daidaiton motsi da tsarin ƙafa biyu ke kawowa yana sanya buƙatu mafi girma akan tsarin sarrafawa na asali fiye da na sauran nau'ikan robot - dole ne ya kammala cikakken madaurin fahimta, yanke shawara, da sarrafawa cikin daƙiƙa kaɗan.
Bayan zagaye-zagaye da dama na kimantawa da kuma tabbatar da ingancin filin, abokin ciniki ya zaɓi babban mai kula da leken asiri na APQ, TER40J-A6, a matsayin babban dandamalin sarrafawa na sabon robot ɗin ɗan adam mai ƙafa biyu.
Kalubalen Abokin Ciniki
Bukatar Kwamfuta Mai Tsanani ta AI:Dole ne robot ɗin ɗan adam mai ƙafa biyu ya gudanar da manyan samfura masu yawa a ainihin lokaci a gefen don yin ayyuka masu rikitarwa na AI kamar fahimtar muhalli, fahimtar ma'ana, da tsara ayyuka, wanda ke buƙatar aikin AI a matakin dubu-TOPS.
Samun Bidiyon HD na Tashar Yanar Gizo Mai Sauƙi:Robot ɗin yana buƙatar kyamarorin HD da yawa don cimma fahimtar muhalli na digiri 360, wanda ke buƙatar mai sarrafawa ya goyi bayan hanyoyin haɗin kyamara na GMSL2 da yawa da kuma ikon daidaitawar lokaci na GNSS.
Zamantakewar hanyoyin sadarwa masu sauri da kuma siginar masana'antu ta ainihin lokaci:Yana buƙatar hanyar sadarwa ta aji 10GbE don manyan hanyoyin dawo da bayanai da kuma cire bayanai na horo, yayin da kuma ke tallafawa tsarin EtherCAT na masana'antu na ainihin lokaci don tuƙi duk injunan haɗin gwiwa na robot ɗin.
Tsarin Babban Kwakwalwa/Ƙaramin Kwakwalwa Mai Haɗaka a Lokaci-lokaci:Tafiya a kan ƙafafu biyu tana buƙatar gajerun hanyoyin sarrafa motsi. Lalacewar sadarwa na tsarin gargajiya na "babban kwakwalwa da ƙaramin kwakwalwa" ba zai iya biyan buƙatun motsi na ƙafafu biyu masu ƙarfi ba, wanda hakan ke sa tsarin kwamfuta da sarrafawa ya zama dole.
Sadarwa Mai Arziki a Masana'antu:Dole ne mai sarrafawa ya haɗa injinan servo na haɗin gwiwa, na'urori masu auna ƙarfi, IMUs, LiDARs, da sauran na'urori a lokaci guda, yana buƙatar tashoshi da yawa na CAN FD, tashoshin serial, GPIO, da sauran hanyoyin sadarwa masu faɗi.
Juriyar Girgiza don Babban Aiki Mai Tsayi:A lokacin motsi masu ƙarfi kamar gudu, tsalle, da rawa, robot ɗan adam mai ƙafa biyu yana fuskantar girgiza da tasiri mai ƙarfi, wanda ke buƙatar mai sarrafawa ya nuna ƙirar hana girgiza da tsarin haɗin kullewa.
Maganin APQ
2070 TFLOPS na Aikin AI, Haɗa Ayyukan Babban Kwakwalwa da Ƙaramin Kwakwalwa:TER40J-A6 yana da babban tsarin NVIDIA Jetson Thor T5000, wanda ke ba da aikin AI har zuwa TFLOPS 2070 (ƙarancin FP4). Idan aka kwatanta da dandamalin Jetson AGX Orin, yana wakiltar tsalle mai inganci—tare da ƙarin ƙwayoyin CPU da kusan sau biyu zuwa uku na aikin CPU. Wannan matakin ƙarfin kwamfuta yana ba wa robot ɗan adam mai ƙafa biyu damar gudanar da manyan samfuran harshe na hangen nesa, samfuran fahimtar hanyoyin sadarwa da yawa, da kuma algorithms masu rikitarwa na tsara ayyuka a ainihin lokaci a gefen, wanda hakan ke ba da damar sarrafawa mai hankali daga ƙarshe zuwa ƙarshe daga "fahimta" zuwa "yanke shawara."
Hanyoyin Sadarwa na Kamara GMSL2 guda 8 don Fahimtar Panoramic:TER40J-A6 ya zo daidai da tsarin kyamarar GMSL2 guda 8 kuma yana goyan bayan daidaitawar lokaci na GNSS. Waɗannan hanyoyin haɗin kyamara guda takwas za su iya haɗawa kai tsaye zuwa kyamarorin HD da yawa, wanda ke ba da damar fahimtar muhalli mai digiri 360 ba tare da tabo ga robots na ɗan adam masu ƙafa biyu ba. Daidaita lokaci na GNSS yana tabbatar da daidaito a tsakanin kwararar hotuna da yawa, yana ba da tallafin bayanai masu inganci don manyan ayyuka kamar taswirar SLAM, bin diddigin manufa, da guje wa cikas mai ƙarfi.
Tsarin Kwamfuta da Sarrafa Haɗaɗɗen Tsarin, Kawar da Rabuwar Babban Kwakwalwa/Ƙaramin Kwakwalwa:An gina TER40J-A6 a kan dandamalin Jetson Thor, kuma an sanya shi a matsayin babban mai kula da babban kwakwalwa/ƙananan kwakwalwa don hazaka mai kyau. Ba wai kawai yana yin rawar "babban kwakwalwa" na fahimtar AI da yanke shawara ba, har ma yana ɗaukar rawar "ƙananan kwakwalwa" na sarrafa motsi na ainihin lokaci ta hanyar hanyoyin sadarwa masu wadata na masana'antu, yana tabbatar da ƙirar babban kwakwalwa/ƙananan kwakwalwa mai haɗin kai. Wannan tsarin yana kawar da jinkirin sarrafawa da jinkirin sadarwa ke haifarwa a cikin hanyoyin gargajiya na "babban kwakwalwa + ƙaramin kwakwalwa" kuma yana samar da tushe mai ƙarfi na kayan aiki don sarrafa ainihin lokaci mai ƙarfi a cikin motsi na bipodal.
Cikakken Inganta Sadarwar Masana'antu don Haɗa Na'urori da yawa:TER40J-A6 ya sami ci gaba mai kyau wajen haɓaka aikace-aikacen robot mai siffar mutum biyu: tashoshin jiragen ruwa 2× 10GbE + tashoshin jiragen ruwa na Gigabit Ethernet masu zaman kansu 4× (wasu daga cikin tashoshin jiragen ruwa na Gigabit suna tallafawa EtherCAT): Tashoshin jiragen ruwa na 10GbE suna ba da damar fitar da bayanai na horo na manyan samfuri cikin sauri, suna samar da kayan aiki masu inganci don ci gaba da maimaitawa da inganta tsarin AI. Ana iya sadaukar da tashoshin Gigabit ga sadarwa ta haɗin gwiwa-servo, damar shiga LiDAR, da sadarwa ta baya, wanda ke ba da damar raba zirga-zirga ba tare da cunkoso ba; 4 × Tashoshin FD na CAN: Haɗa kai tsaye tare da tsarin haɗin gwiwa na robot ɗan adam mai bipedal don cimma iko mai daidaitawa mai yawa; 2 × Tashoshin RS232/RS485: Haɗa na'urori masu haɗin gwiwa kamar firikwensin ƙarfi da IMUs; 16 × Tashoshin GPIO: Sauƙaƙa faɗaɗawa don fitowar ƙararrawa, alamun matsayi, da sauran hanyoyin haɗin aiki; Ƙarin hanyoyin haɗin I2C, SPI, TTL, PPS_IN, da 2 × PWM don biyan buƙatun keɓancewa mai zurfi; 3 × Tashoshin USB 10Gbps + 1 × Tashoshin USB 5Gbps don haɗa babban ajiya mai sauri, kyamarorin masana'antu, na'urorin murya, radar, firikwensin ƙarfi, da sauran na'urori; 1 × Tashoshin nuni na HDMI don gyara kurakurai da gani na gida.
Tsarin Cikakken Tsarin Hana Girgiza don Aiki Mai Tsayi:A lokacin ayyuka masu ƙarfi kamar gudu, tsalle, da rawa, mai sarrafa robot ɗan adam mai ƙafa biyu yana fuskantar girgiza da tasiri mai ƙarfi akai-akai. TER40J-A6 yana da cikakken tsari mai tsari na hana girgiza a matakin haɗin gwiwa: GMSL musaya kyamara yana da tsarin kulle-kulle da aka gina a ciki don tabbatar da haɗin kai mai aminci ga kyamarorin HD da yawa yayin motsi mai ƙarfi; musaya cibiyar sadarwa suna amfani da Mini I/O form factor kuma suna da hanyoyin kullewa, suna ba da juriyar girgiza mafi kyau idan aka kwatanta da mahaɗin RJ45 na gargajiya; musaya ta USB suna ba da wurare masu tsayi a kusa da tashoshin jiragen ruwa, suna ba da damar ƙara ƙarfafa kebul ta hanyar ɗaurewa; Wannan cikakken tsarin haɗin gwiwa yana tabbatar da cewa mai sarrafawa zai iya tallafawa robots na samfuri a cikin yin ayyuka masu rikitarwa, masu ƙarfi, masu ƙarfi kamar rawa da juyawa.
Faɗaɗa Mara waya da Amincin Masana'antu:TER40J-A6 yana goyan bayan ramin M.2 Key-M don faɗaɗa NVMe SSD, ramin M.2 Key-B don faɗaɗa module ɗin 4G/5G, da kuma ramin M.2 Key-E don faɗaɗa module ɗin Wi-Fi/Bluetooth. An tanadar da hanyoyin gyara kurakurai da walƙiya, da kuma ramin katin SIM, a gefe don dacewa da kulawa da haɓakawa. Duk na'urar tana auna 168.2 × 130 × 72.6 mm kawai, tana amfani da sanyaya fanka mai wayo, tana goyan bayan shigarwar wutar lantarki mai faɗi 12–28 VDC, tana ba da kewayon zafin aiki na -20 zuwa 50°C da kewayon zafin ajiya na -40 zuwa 80°C, kuma ta wuce gwajin girgiza da girgiza mai ƙarfi.
Nasarorin Dabi'u:
Cikakken Nasarar Matsalar Kwamfuta:Tare da TFLOPS 2070 na aikin AI mai matuƙar girma, manyan samfura na zamani da yawa na iya aiki a ainihin lokaci a gefen. Saurin amsawa ga ayyukan AI masu rikitarwa kamar fahimtar yanayi, fahimtar ma'ana, da tsara ayyuka ya cimma babban ci gaba akan mafita na gargajiya, yana samar da tushen kwamfuta mai ƙarfi don robot masu kama da mutum-mutumin ɗan adam don canzawa daga kawai "iya tafiya" zuwa "iya tunani da yanke shawara."
Haɗaɗɗen Babban Kwakwalwa da Ƙaramin Kwakwalwa, Kusa da Sifili Rashin Tsarin Kulawa:Tsarin kwamfuta da sarrafawa da aka haɗa na dandamalin Jetson Thor gaba ɗaya yana kawar da jinkirin sadarwa na hanyoyin magance matsalolin "babban kwakwalwa + ƙaramin kwakwalwa" na gargajiya. Umarnin sarrafa motsi don tafiya a kan ƙafafu biyu na iya kammala zagayen daga fahimta zuwa aiwatarwa cikin daƙiƙa kaɗan, wanda hakan ke inganta kwanciyar hankali a tafiya da kuma saurin amsawa mai ƙarfi.
Fahimtar Ra'ayi Mai Ban Mamaki Ba Tare da Tabo Ba:Haɗin kyamarar GMSL2 guda 8, tare da daidaitawar lokaci na GNSS, yana ba da damar samun daidaito da daidaita kwararar hotuna na HD da yawa na ɗan lokaci, yana ba da damar fahimtar robot ɗin digiri 360 don biyan buƙatun yanayi daban-daban kamar gano yanayin ƙasa mai rikitarwa, guje wa cikas mai ƙarfi, da bin diddigin manufa.
Dukansu Sadarwa Mai Sauri da Kulawa ta Lokaci-lokaci:Tashoshin jiragen ruwa na 2× 10GbE suna tabbatar da tattara bayanai masu sauri na bidiyo da fahimta ta HD, wanda ke ba da damar fitar da bayanai cikin sauri na horo ga manyan samfura da kuma tallafawa ci gaba da inganta tsarin AI. Tashoshin jiragen ruwa na 4× GbE suna tallafawa EtherCAT, wanda ke ba da damar sarrafa injunan haɗin gwiwa na matakin microsecond a ainihin lokaci.
Kariyar Kariya ta Kariya daga Girgiza Mai Cikakken Inganci don Ayyuka Masu Tsauri:Matakan hana girgiza da yawa—gami da masu haɗin GMSL da aka kulle, tashoshin sadarwa na Mini I/O da aka kulle, da kuma matsayin ɗaure sukurori a kusa da hanyoyin haɗin USB—tabbatar da aikin mai sarrafawa mai ƙarfi yayin ayyuka masu ƙarfi kamar gudu, tsalle, da rawa, suna magance matsaloli masu ɗorewa a cikin hanyoyin magancewa na gargajiya inda girgiza ke haifar da sassauta hanyoyin sadarwa da katsewar sigina na ɗan lokaci.
Haɗakar Na'urori da yawa akan dandamali ɗaya, wanda ke sauƙaƙa tsarin tsarin sosai:Ma'ajiyar sadarwa mai wadata, gami da 4× CAN FD, 2× RS232/485, 16× GPIO, da I2C/SPI/PPS, suna ba da damar haɗin dandamali ɗaya don haɗin servos, firikwensin ƙarfi, IMUs, LiDARs, kyamarorin HD, da sauran na'urori. Ana iya kammala cikakken aikin tsarin ba tare da ƙarin kayan faɗaɗawa ba, wanda ke rage sarkakiyar haɗa tsarin da farashin BOM sosai.
