Ndi kupita patsogolo kwa ukadaulo komanso mgwirizano m'mafakitale onse, chaka cha 2025 chikuwoneka ngati "Chaka cha Ma Robotics." Makampani onse a robotics akukula kwambiri, ndi zochitika zosiyanasiyana zogwiritsira ntchito zomwe zikuyendetsa njira zosiyanasiyana zaukadaulo komanso zofunikira pa mapulogalamu ndi zida zonse. Chifukwa chake, zofunikira ndi njira zogwiritsira ntchito zowongolera mayendedwe nthawi yeniyeni zimasiyana. Pogwiritsa ntchito kumvetsetsa kwakukulu kwa gawo la robotics, APQ yapanga njira zothetsera mavuto owongolera nthawi yeniyeni.
01
Kusankha Njira Zosiyanasiyana za Ukadaulo wa Robotic & Processing Platform
Maloboti okhala ndi anthu awiri okhala ndi mawonekedwe ofanana ndi a munthu omwe amatha kusinthasintha bwino malo ovuta komanso magwiridwe antchito ogwirizana ndi thupi lonse. Maloboti amenewa nthawi zambiri amafunikira ma axes 38 mpaka 70 owongolera mayendedwe, zomwe zikutanthauza kuti amafunika nthawi yeniyeni komanso mayendedwe owongolera mpaka 1000Hz. APQ imagwiritsa ntchito mapurosesa a X86 othamanga kwambiri okhala ndi mapulogalamu okonza mapulogalamu kuti akwaniritse zosowa izi nthawi yeniyeni.
Mosiyana ndi zimenezi, ma robot okhala ndi mawilo kapena a mtundu wa base amagwiritsa ntchito kapangidwe ka chassis kopepuka kwambiri, komwe kumapereka ubwino waukulu pakulamulira ndalama, kuyendetsa bwino, komanso moyo wa batri. Nthawi zambiri awa amakhala ndi ufulu wa madigiri pafupifupi 30 komanso kufunikira kochepa kwa makompyuta nthawi yeniyeni, koma amakhudzidwa kwambiri ndi kugwiritsa ntchito mphamvu. Pa gululi, APQ imagwiritsa ntchito nsanja zamagetsi zotsika mtengo monga Intel® N97 kapena J6412 kuti ipange mayankho athunthu. Izi zimagwirizanitsa kugwiritsa ntchito mphamvu ndi mtengo wake pamene zikugwiritsa ntchito njira yokulirapo yopangira nsanja ya X86 kuti ikwaniritse zofunikira zolimba kuti makina owongolera agwire ntchito nthawi yeniyeni, kukhazikika, kuphatikiza, komanso kukhala opapatiza.
02
Phunziro la APQ's EtherCAT Real-Time Control Optimization
Mbiri Yogwiritsira Ntchito
Maloboti okhala ndi mawilo/base nthawi zambiri amagwiritsidwa ntchito powongolera njira zovuta, kulumikizana kwa ma axis ambiri, mayendedwe otsogozedwa ndi maso, ndi ntchito zina zofanana. Machitidwe awo owongolera ayenera kuthandizira:
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Kulankhulana kwa basi yothamanga kwambiri ya EtherCATpa servo control yolumikizidwa
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OS yovuta nthawi yeniyeniyankho la sub-millisecond
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Kapangidwe kakang'ono ka mafakitaleyoyenera kugwiritsa ntchito mawaya olimba kapena malo osungira makabati
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Madoko okulirapokuphatikiza madoko angapo otsatizana ndi a LAN kuti agwirizane ndi zinthu zosiyanasiyana
Kasitomala m'modzi, yemwe anali kupanga loboti yokhala ndi axis yambiri, anafunika thandizo la EtherCAT komanso kugwira ntchito bwino nthawi yeniyeni. Komabe, kuyesa ndi nsanja ya N97 ndi madalaivala a servo kunawonetsa kuti kayendedwe ka kulumikizana kwa EtherCAT sikanatha kufika pansi pa 50μs, zomwe zinapangitsa kuti pakhale vuto lalikulu pakupanga zinthu zambiri.
Njira Yokonzera Zinthu Pa Nthawi Yeniyeni
Pogwiritsa ntchito nsanja za N97 ndi J6412, APQ idakonza zonse munthawi yeniyeni. Chitsanzo cha njira ya nsanja ya N97:
1. Kusintha kwa OS kupita ku Linux Xenomai Environment:
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Ubuntu 20.04 + Linux Kernel 5.15
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Chigamba cha nthawi yeniyeni: Xenomai 3.2 (chogwirizana ndi LinuxCNC)
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Kugwirizana komwe kwayesedwa kuti kugwirizane ndi zosowa zakale za kasitomala (Kernel 4.19 + Xenomai 3.1)
Masitepe Osinthira Nthawi Yeniyeni:
a) Kusintha kwa BIOS
b) Kukonza magawo a kernel nthawi yeniyeni (ECI)
c) Kusintha kwa magawo a Cmdline (ECI)
d) Kusintha kwa OS-level mozama
e) Kuyeza kwa Latency/Jitter
2. Kayendedwe ka Ntchito Yoyesera Nthawi Yeniyeni:
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Zida:Ma module oyesera a Latency, Clocktest, LinuxCNC
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Zolinga:
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Kuchedwa: Kuchedwa kwakukulu < 40μs
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Mayeso a Clock: Kuthamanga ≈ 0 (chitsanzo cha chigawo chachitatu pafupi ndi zero)
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Kuphedwa:Mayeso angapo pamagulu a zida (kuphatikiza J6412 poyerekeza)
Zotsatira za Mayeso:
Pansi pa Linux Xenomai, nthawi yowongolera ndi kugwedezeka zinasintha kwambiri. Kuchedwa kunakhalabe pansi pa 40μs nthawi yonse, pomwe clocktest drift inali pafupi zero - kukwaniritsa zofunikira pakugwiritsa ntchito.
Zotsatira za Kugwiritsa Ntchito Padziko Lonse
Kulamulira kwa Dzanja la Robotic Arm la Multi-Axis
Vuto:
Kuwotcherera kolumikizidwa ndi ma axis 8 kumafuna kulumikiza kwa μs-level; njira zachikhalidwe zimayambitsa zolakwika zoyenda ndi kuyenda.
Kukonza bwino:
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J6412 yokhala ndi Ubuntu 20.04 + Xenomai 3.2
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4x Gigabit LAN yolunjika ku EtherCAT servo
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Ma cores opangidwa ndi Isolcpus odzipereka nthawi yeniyeni
Zotsatira:
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Lumikizani Molondola:Kuthamanga kwa mayeso a Clock ≤ 0.05μs; Kupatuka kwakukulu kwa njira yolowera < 0.1mm
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Chitsimikizo cha Nthawi Yeniyeni:Kugwira ntchito kosalekeza kwa maola 72, kuchedwa kwa nthawi yayitali ≤ 38μs
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Kuchepetsa Mtengo:Mtengo wotsika ndi 35%, mphamvu yochepera 60% kuposa yankho la i5
Kuwongolera Kuyenda kwa Agalu a Robot Yokhala ndi Magawo Anayi
Vuto:
Kulinganiza kwamphamvu kwa ma joint 12 kumafunika mayankho a μs-level; kuchedwa kwa dongosolo lakale > 100μs kunayambitsa kusakhazikika
Kukonza bwino:
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N97 + Xenomai 3.2
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PREEMPT_RT + chigamba cha ECI
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Ma CPU awiri a Cmdline olekanitsidwa a ntchito za servo
Zotsatira:
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Kuchedwa Kochepa:Kulamulira kuzungulira mkati mwa 500μs, kuchedwa ≤ 35μs
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Kulimba:Mayeso obwezeretsa mu -20°C, jitter < ± 8μs
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Kukulirakulira:Sensa ya IMU kudzera pa M.2; Kusunga mphamvu kwa 60% kuposa yankho la i3
Zosankha Zogwiritsira Ntchito
Kwa makasitomala aluso omwe amayang'ana kwambiri magwiridwe antchito nthawi yeniyeni, APQ imalimbikitsaLinux + XenomaiKwa ogwiritsa ntchito omwe amakonda kugwiritsa ntchito zinthu zomwe sizili mu bokosi, APQ imaperekansozithunzi zamakina zomwe zakhazikitsidwa kale komanso zokonzedwa bwinondi zolemba zothetsa mavuto — kuchepetsa zopinga zotumizira.
Pamene maloboti akulowa m'malo mwa ntchito zamanja,machitidwe owongolera nthawi yeniyeni, okhazikika, komanso otsika mtengokukhala kofunikira kwambiri kuti zinthu ziyende bwino. APQ ikukwaniritsa izi kudzera mu njira zolumikizirana za hardware ndi mapulogalamu ndipo ipitiliza kuyang'ana kwambiri pa robotic edge computing ndi mayendedwe - kupatsa mphamvu makasitomala ambiri amafakitale okhala ndi nsanja zokhazikika, zogwira ntchito bwino, komanso zosavuta kuziphatikiza.
Ngati mukufuna kudziwa zambiri za kampani yathu ndi zinthu zathu, musazengereze kulankhula ndi woimira wathu wakunja, Robin.
Email: yang.chen@apuqi.com
WhatsApp: +86 18351628738
Nthawi yotumizira: Julayi-28-2025