Ndi kupita patsogolo kwaukadaulo komanso mgwirizano wamakampani, 2025 imadziwika kuti ndi "Chaka cha Robotics." Bizinesi yonse yama robotiki ikukula kwambiri, yokhala ndi mawonekedwe osiyanasiyana ogwiritsira ntchito njira zamaukadaulo ndi zofuna zamapulogalamu ndi zida. Chifukwa chake, zofunikira ndi njira zoyendetsera kayendetsedwe ka nthawi yeniyeni zimasiyana. Pogwiritsa ntchito kumvetsetsa kwakukulu kwa gawo la robotics, APQ yapanga njira zothetsera kukhathamiritsa kwanthawi yeniyeni.
01
Diverging Robotic Technology Routes & Processing Platform Selection
Maloboti a Bipedal humanoid amakhala ndi mawonekedwe ngati a munthu omwe amatha kutha kusinthasintha ndi malo ovuta komanso magwiridwe antchito a thupi lonse. Malobotiwa nthawi zambiri amafunikira ma ax 38 mpaka 70 owongolera kuyenda, zomwe zikutanthauza kuti zofunikira zenizeni zenizeni ndikuwongolera mpaka 1000Hz. APQ imagwiritsa ntchito mapurosesa a X86 apamwamba kwambiri okhala ndi mapulogalamu kuti akwaniritse zofunikira zenizeni izi.
Mosiyana ndi izi, maloboti amawilo kapena oyambira amatengera mawonekedwe opepuka a chassis, omwe amapereka zabwino zambiri pakuwongolera mtengo, kuyenda bwino, komanso moyo wa batri. Izi nthawi zambiri zimakhala ndi pafupifupi madigiri 30 a ufulu komanso kufunikira kocheperako kwa makompyuta anthawi yeniyeni, koma amakhudzidwa kwambiri ndi kugwiritsa ntchito mphamvu. Pagululi, APQ imagwiritsa ntchito nsanja zotsika, zotsika mtengo monga Intel® N97 kapena J6412 kuti apange mayankho athunthu. Izi zimayendetsa bwino mphamvu zamagetsi komanso mtengo wake pomwe zikuthandizira chitukuko cholemera cha nsanja ya X86 kuti ikwaniritse zofunikira pakuwongolera magwiridwe antchito munthawi yeniyeni, kukhazikika, kuphatikiza, ndi kuphatikizika.
02
APQ's EtherCAT Real-Time Control Optimization Case Study
Mbiri ya Ntchito
Maloboti okhala ndi mawilo / oyambira nthawi zambiri amagwiritsidwa ntchito pakuwongolera njira zovuta, kulumikizana ndi ma axis angapo, kuyenda motsogozedwa ndi masomphenya, ndi ntchito zofananira. Njira zowongolera ziyenera kuthandizira:
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EtherCAT yolumikizana ndi mabasi othamanga kwambirikwa kuwongolera kwa servo
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Zovuta zenizeni nthawi OSpakuyankha kwa ma millisecond
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Mapangidwe apakatikati amakampanioyenera mawaya olimba kapena malo a kabati
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Madoko owonjezerakuphatikiza ma serial angapo ndi ma LAN madoko ophatikizira osiyanasiyana
Mmodzi kasitomala, kupanga loboti yambiri axis, ankafuna thandizo EtherCAT ndi mkulu-nthawi yeniyeni ntchito. Komabe, kuyesa ndi nsanja ya N97 ndi madalaivala a servo kunasonyeza kuti EtherCAT kuyankhulana sikungafikire pansi pa 50μs, kupanga botolo lofunika kwambiri la kupanga misala.
Real-Time Kukhathamiritsa Njira
Pogwiritsa ntchito nsanja za N97 ndi J6412, APQ idachita kusintha kwanthawi yeniyeni. Chitsanzo cha 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 (yogwirizana ndi LinuxCNC)
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Kugwirizana komwe kumayesedwa pazosowa zamakasitomala (Kernel 4.19 + Xenomai 3.1)
Njira Zosinthira Nthawi Yeniyeni:
a) Kusintha kwa BIOS
b) Kukhathamiritsa kwa kernel nthawi yeniyeni (ECI)
c) Cmdline parameter ikukonzekera (ECI)
d) Kusintha kozama kwa OS-level
e) Miyezo ya latency/Jitter
2. Mayendedwe Oyesa Nthawi Yeniyeni:
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Zida:Latency, Clocktest, LinuxCNC test modules
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Zolinga:
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Latency: Kuchedwa kwambiri <40μs
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Wotchipa: Drift ≈ 0 (gawo lachitatu pafupi ndi ziro zotsatira)
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Kuphedwa:Kuyesa kangapo pamagulu a hardware (kuphatikiza J6412 poyerekeza)
Zotsatira Zoyesa:
Pansi pa Linux Xenomai chilengedwe, nthawi yozungulira yozungulira ndi jitter zidayenda bwino. The latency idakhalabe pansi pa 40μs ponseponse, pomwe kuwotcherera kwa wotchi kumayandikira zero - kukwaniritsa zofunsira.
Zotsatira Zogwiritsa Ntchito Padziko Lonse
Multi-Axis Robotic Arm Control
Chovuta:
8-axis synchronized kuwotcherera kumafunika kulunzanitsa μs-level; njira zoyankhira zidayambitsa zolakwika komanso zolakwika.
Kukhathamiritsa:
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J6412 yokhala ndi Ubuntu 20.04 + Xenomai 3.2
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4x Gigabit LAN molunjika ku EtherCAT servo
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Isolcpus yodzipatulira ma cores a nthawi yeniyeni
Zotsatira:
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Kulunzanitsa Kulondola:Kuyendetsa koloko koloko ≤ 0.05μs; Max trajectory kupatuka <0.1mm
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Chitsimikizo cha Nthawi Yeniyeni:72h ntchito mosalekeza, nsonga latency ≤ 38μs
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Kuchepetsa Mtengo:35% mtengo wotsika, 60% mphamvu zochepa kuposa yankho la i5
Quadruped Robot Dog Motion Control
Chovuta:
12-ojoint dynamic kusanja kofunikira μs-level mayankho; legacy system latency> 100μs idayambitsa kusakhazikika
Kukhathamiritsa:
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N97 + Xenomai 3.2
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PREEMPT_RT + ECI chigamba
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Cmdline yopatula 2 CPU cores pazantchito za servo
Zotsatira:
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Kuchedwa Kwambiri:Kuwongolera kuzungulira mkati mwa 500μs, latency ≤ 35μs
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Kulimba:Mu -20 ° C kuyesa kuchira, jitter <± 8μs
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Kukula:Sensa ya IMU kudzera pa M.2; 60% kupulumutsa mphamvu pa i3-based solution
Zosankha Zotumizira
Kwa makasitomala omwe ali ndi luso laukadaulo omwe amayang'ana kwambiri magwiridwe antchito munthawi yeniyeni, APQ imalimbikitsaLinux + Xenomaikutumiza. Kwa ogwiritsa ntchito omaliza omwe amakonda kugwiritsa ntchito kunja kwa bokosi, APQ imaperekansozithunzi zokhazikitsidwa kale komanso zokongoletsedwandi zolemba zowonongeka - kuchepetsa zolepheretsa kutumiza.
Pamene maloboti akuchulukirachulukira m'malo mwa ntchito zamanja,njira zenizeni, zokhazikika, komanso zotsika mtengokukhala wofunikira kuti apambane. APQ ikukwaniritsa chosowachi kudzera mu njira zophatikizira zamapulogalamu a hardware ndipo ipitiliza kukulitsa chidwi chake pamakompyuta am'mphepete mwa robotic ndikuwongolera zoyenda - kupatsa mphamvu makasitomala ambiri am'mafakitale okhala ndi nsanja zokhazikika, zogwira mtima, komanso zophatikizika mosavuta.
Ngati muli ndi chidwi ndi kampani yathu ndi malonda, omasuka kulankhulana ndi woimira kunja kwa nyanja, Robin.
Email: yang.chen@apuqi.com
WhatsApp: +86 18351628738
Nthawi yotumiza: Jul-28-2025