Umuti

APQ Flagship Ifite Umuyoboro w'Ubwenge TER40J-A6 muri Porogaramu ya Roboti Ifite Umuntu Ifite Ingufu Zibiri

Roboti zimeze nk'umuntu zigizwe n'ibice bibiri zigaragaza ikoranabuhanga ry'ubuhanga rigaragara. Imiterere yazo isa n'iy'umuntu ituma habaho guhuza neza n'ahantu abantu bakorera, bibaha amahirwe menshi yo kuyikoresha mu nganda, serivisi z'ubucuruzi, n'ibikorwa byihariye. Ariko, ibibazo byo kuringaniza imiterere y'ibice bibiri bishyiraho ibisabwa byinshi kuri sisitemu y'ibanze yo kugenzura kurusha izindi robo—igomba kurangiza umurongo wose w'ibitekerezo, gufata ibyemezo, no kugenzura mu masegonda make.

Nyuma y’isuzuma rinini no kwemeza neza aho ibintu biri, umukiriya yahisemo ikigo cy’ubutasi cya APQ, TER40J-A6, nk'urubuga rw'ibanze rw’igenzura rya robo nshya ikoresha imiterere y’umubiri igendanwa.

Ikibazo cy'abakiriya

Ubusabe bukabije bwa mudasobwa ya AI:Roboti ifite imiterere ibiri nk'iy'umuntu igomba gukoresha moderi nini nyinshi mu gihe nyacyo ku nkengero kugira ngo ikore imirimo igoye ya AI nko kumva ibidukikije, gusobanukirwa imiterere y'ibintu, no gutegura imirimo, bisaba gukora AI ku rwego rwa TOPS igihumbi.
Gukoresha Videwo za HD zo mu Miyoboro Minini Ihuza (synchronized Multi-Channel HD Video):Roboti ikeneye kamera nyinshi za HD kugira ngo igere ku buryo bwo kureba ibidukikije bwa dogere 360, bisaba ko icyuma gikoresha kamera gishyigikira uburyo bwinshi bwo guhuza kamera za GMSL2 n'ubushobozi bwa GNSS bwo guhuza igihe.
Kubaho kw'itumanaho ryihuse cyane n'ibimenyetso by'inganda mu gihe nyacyo:Bisaba uburyo bwo guhuza amakuru bwa 10GbE kugira ngo habeho uburyo bunini bwo kuyasubiza no kuyakuramo amakuru, mu gihe binashyigikira uburyo bwa EtherCAT bwo gukora porogaramu ya Ethernet mu buryo bwihuse kugira ngo iyobore moteri zose zifatanye za robo.
Uburyo bwo kugenzura ubwonko bunini/ubwonko buto mu gihe nyacyo:Kugenda n'amaguru bigufi bisaba imikorere migufi cyane yo kugenzura imikorere. Gutinda k'itumanaho ry'imiterere gakondo "y'ubwonko bunini n'ubwonko buto" ntibishobora kuzuza ibisabwa mu gihe nyacyo byo kugenda bigufi bihindagurika cyane, bigatuma imiterere y'ikoranabuhanga rya mudasobwa n'igenzura ihuriweho iba ingenzi.
Uburyo bwo gutumanaho bw'inganda bukungahaye:Umugenzuzi agomba guhuza moteri za servo, sensors za force, IMUs, LiDARs, n'ibindi bikoresho, bikaba bisaba imiyoboro myinshi ya CAN FD, ports serial, GPIO, n'izindi interfaces nini.
Ubudahangarwa bwo Kunyeganyega ku Mikorere Ikomeye:Mu gihe cy'ingendo zikomeye nko kwiruka, gusimbuka no kubyina, robo ifite umubiri umeze nk'umuntu ihura n'ibintu bihindagurika cyane kandi bigatera ubwoba, bisaba ko icyuma gipima ibintu kigira imiterere myiza yo kurwanya guhinda no gufunga aho bihurira.

Igisubizo cya APQ

2070 TFLOPS z'imikorere ya AI, zihuza imikorere y'ubwonko bunini n'imikorere y'ubwonko buto:TER40J-A6 ifite module ya NVIDIA Jetson Thor T5000 core, itanga imikorere ya AI igera kuri 2070 TFLOPS (FP4 sparse). Ugereranyije na platform ya Jetson AGX Orin, igaragaza intambwe ikomeye - ifite CPU nyinshi kandi ikubye inshuro ebyiri cyangwa eshatu CPU. Uru rwego rw'ingufu za mudasobwa rutuma robots zikoresha imiterere minini y'ururimi, imiterere y'uburyo bwo kumva ibintu byinshi, na algorithms zikomeye zo gutegura imirimo mu gihe nyacyo, bituma koko habaho uburyo bwo gukora ibintu kuva ku "kubona ibintu" kugeza ku "gufata ibyemezo."
Imirongo 8 ya Kamera ya GMSL2 yo Kureba Ishusho Igaragara:TER40J-A6 iza isanzwe ifite imiyoboro 8 ya kamera za GMSL2 kandi ishyigikira guhuza igihe cya GNSS. Izi miyoboro umunani za kamera zishobora guhuzwa na kamera nyinshi za HD, bigatuma roboti zikoresha umubiri zireba ahantu hatandukanye mu buryo bwa dogere 360. Guhuza igihe cya GNSS bitanga uburyo bwo guhuza neza amashusho menshi, bitanga inkunga y’amakuru meza ku mikorere y’ingenzi nko gupima SLAM, gukurikirana intego, no kwirinda inzitizi zidasanzwe.
Imiterere ya mudasobwa n'igenzura ihuriweho, ikuraho gutandukana kw'ubwonko bunini/ubwonko buto:Yubatswe kuri platform ya Jetson Thor, TER40J-A6 ishyirwa mu mwanya w’ubuyobozi bw’ubwonko bunini/ubwonko buto buhuza ubwenge busanzwe. Ntabwo ikora gusa uruhare rw’ubwonko bunini mu kubona no gufata ibyemezo bya AI, ahubwo inakora n’uruhare rw’ubwonko buto mu kugenzura ingendo mu gihe nyacyo binyuze mu buryo bwayo bw’itumanaho bukungahaye ku nganda, igakora igishushanyo mbonera cy’ubwonko bunini/ubwonko buto. Ubu buryo bukuraho gutinda kugenzura guterwa no gutinda k’itumanaho mu buryo busanzwe bwo “bwonko bunini n’ubwonko buto” kandi butanga urufatiro rukomeye rw’ibikoresho byo kugenzura mu gihe nyacyo mu kugenda kwa kabiri.
Ivugurura ryimbitse ry'itumanaho mu nganda kugira ngo habeho guhuza ibikoresho byinshi:TER40J-A6 yavuguruwe cyane mu buryo bwo gukoresha robo zikoresha ikoranabuhanga rya bipedal humanoid: 2 × 10GbE ports + 4 × 4 Gigabit Ethernet ports (zimwe muri Gigabit ports zishyigikira EtherCAT): 10GbE ports zituma amakuru y’amahugurwa y’ubwoko bunini aboneka vuba, zigatanga ibikoresho byiza byo gukora isuzuma no kunoza algorithme ya AI. Imbuga za Gigabit zishobora gushyirwaho itumanaho rihuza abantu, uburyo bwo kugera kuri LiDAR, n'itumanaho rya backend, bigatuma imodoka zitandukanywa nta gucucikana; imiyoboro ya CAN FD 4 ×: Ihuza neza na sisitemu ya servo ihuza abantu ya roboti ihuza abantu babiri kugira ngo igerweho uburyo bwo kugenzura bugezweho; imiyoboro ya 2 × RS232 / RS485: Huza neza ibikoresho nk'ibikoresho byo mu rwego rwo hejuru na IMU; imiyoboro ya GPIO 16 ×: Koroshya kwagura ibicuruzwa byo mu rwego rwo hejuru, ibimenyetso by'imiterere, n'izindi miyoboro ya actuator; izindi miyoboro ya I2C, SPI, TTL, PPS_IN, na 2 × PWM kugira ngo yuzuze ibisabwa byimbitse byo guhindura; imiyoboro ya 3 × USB 10Gbps + 1 × USB 5Gbps yo guhuza ububiko bwihuta, kamera zo mu nganda, module z'amajwi, radar, ibikoresho byo mu rwego rwo hejuru, n'ibindi bikoresho; 1 × HDMI yo kwerekana no gusuzuma aho ibintu biherereye.
Igishushanyo cyuzuye cyo kurwanya guhindagurika kw'imashini (Full-Interface Anti-Vibration Design) kugira ngo ikore neza cyane:Mu gihe cy’ibikorwa bikomeye nko kwiruka, gusimbuka, no kubyina, igikoresho kigenzura imikorere ya robo ifite umubiri umeze nk’umuntu kigenda gihura n’ibintu bihindagurika cyane kandi bitera imbaraga nyinshi. TER40J-A6 ifite imiterere yuzuye kandi irwanya guhindagurika ku rwego rwa interface: Urwego rwa kamera za GMSL rufite imiterere yubatswemo ifunga kugira ngo ifashe kamera nyinshi za HD mu gihe cy’ingendo zikomeye; Urwego rwa interineti rukoresha Mini I/O form factor kandi rufite uburyo bwo gufunga, butanga ubushobozi bwo guhangana n’ihindagurika ugereranyije n’ibihuza bisanzwe bya RJ45; Urwego rwa USB rutanga imyanya yabugenewe yo gushyiramo screw hirya no hino ku byambu, bigatuma insinga zirushaho gukomezwa no kuzihambira; Iyi gahunda yuzuye igenzura ko igikoresho kigenzura gishobora gushyigikira robo zisanzwe mu gukora ibikorwa bigoye, bihindagurika cyane, kandi bifite ingaruka zikomeye nko kubyina no gusimbuka.
Kwagura nta mugozi no kwizerana mu rwego rw'inganda:TER40J-A6 ishyigikira umwanya wa M.2 Key-M wo kwagura SSD ya NVMe, umwanya wa M.2 Key-B wo kwagura module ya 4G/5G, n'umwanya wa M.2 Key-E wo kwagura module ya Wi-Fi/Bluetooth. Uburyo bwo gukemura ibibazo no kugarura amatara bwihariwe, hamwe n'umwanya wa SIM card, birahari ku ruhande kugira ngo byoroshye kubibungabunga no kuvugurura. Iyi mashini yose ifite uburebure bwa mm 168.2 × 130 × 72.6 gusa, ikoresha ubwenge bwo gukonjesha umufana, ishyigikira ingufu za VDC 12–28, itanga ubushyuhe buri hagati ya -20 na 50°C n'ubushyuhe buri hagati ya -40 na 80°C, kandi yatsinze igeragezwa rikomeye ryo gutigita no gutungurana.

Indangagaciro z'ibyagezweho:

Impinduka yuzuye mu kibazo cya mudasobwa:Hamwe na TFLOPS 2070 z’imikorere ya AI iri hejuru cyane, moderi nini nyinshi zishobora gukora mu gihe nyacyo ku nkengero. Umuvuduko wo gusubiza imirimo ikomeye ya AI nko kumva ibidukikije, gusobanukirwa imiterere y’ibintu, no gutegura imirimo byageze ku ntambwe idasanzwe ugereranije n’ibisubizo bisanzwe, bitanga urufatiro rukomeye rw’ikoranabuhanga rya robots zikoresha imiterere y’umubiri zigendana n’amaguru kugira ngo zihinduke ziva ku “gushobora kugenda” gusa zikagera ku “gushobora gutekereza no gufata ibyemezo.”
Ubwonko Bunini n'Ubwonko Buto Buhuriweho, Uburemere bwo Kugenzura Bugera Hafi ya Zero:Imiterere ya mudasobwa n’igenzura ya platform ya Jetson Thor ikuraho burundu gutinda k’itumanaho ry’ibisubizo gakondo bya “ubwonko bunini n’ubwonko buto”. Amabwiriza yo kugenzura uko umuntu agenda akoresha amaguru abiri ashobora kurangiza umurongo kuva ku kumva kugeza ku gushyira mu bikorwa mu masegonda make, bikongera cyane uburyo bwo kugenda buhamye n’umuvuduko w’uburyo umuntu agenda.
Uburyo bwo Kubona Ibintu mu Buryo Butabona Budafite Aho Buhurira:Imirongo 8 ya kamera ya GMSL2, hamwe no guhuza igihe cya GNSS, bituma habaho kubona no guhuza neza amashusho menshi ya HD, bigatuma robo ibasha kubona amashusho ya dogere 360 kugira ngo igere ku bintu bitandukanye nko kumenya ahantu hagoye, kwirinda inzitizi zidasanzwe, no gukurikirana intego.
Itumanaho ryihuse cyane ndetse no kugenzura mu buryo nyabwo:Imbuga za 2 × 10GbE zitanga serivisi yo guhuriza hamwe amakuru ya videwo ya HD n'amakuru yo kureba ku buryo bwihuse, bigatuma amakuru y’amahugurwa y’abantu banini aboneka vuba kandi agashyigikira uburyo bwo gukora neza algorithme ya AI. Imbuga za 4 × GbE zishyigikira EtherCAT, bigatuma moteri zihuza zigenzura mu buryo bwihuse moteri zikoresha microsecond.
Uburinzi bwuzuye bwo kurwanya guhindagurika kw'inyuguti ku mirimo ikomeye:Ingamba nyinshi zo kurwanya gutigita—harimo connectors za GMSL zifunze neza, gufunga ports za Mini I/O network, n'aho gufunga screws hafi ya USB—bituma imikorere ihamye ya controller ikorwa mu gihe cy'ibikorwa bikomeye nko kwiruka, gusimbuka, no kubyina, bigakemura ibibazo bihoraho mu buryo busanzwe aho gutigita bitera gutigita no guhagarika ibimenyetso by'akanya gato.
Guhuza Ibikoresho Binini kuri Puratifomu Imwe, Byoroshya Cyane Imiterere ya Sisitemu:Imiyoboro ikungahaye irimo 4 × CAN FD, 2 × RS232/485, 16 × GPIO, na I2C/SPI/PPS bifasha guhuza urubuga rumwe kuri servo zihuriweho, sensors z'imbaraga, IMU, LiDARs, kamera za HD, n'ibindi bikoresho. Gushyira sisitemu yose bishobora gukorwa nta modules z'inyongera zo kwagura, bigabanya cyane ubukana bwo guhuza sisitemu n'ikiguzi cya BOM.