Nebudiriro yetekinoroji uye kubatana kweindasitiri-yakakura, 2025 inoonekwa zvakanyanya se "Gore reRobhoti." Iyo yese indasitiri yemarobhoti iri kusangana nekukura kwekuputika, iine akasiyana mashandisirwo mamiriro ekutyaira akasiyana tekinoroji nzira uye zvinodiwa kune ese software uye hardware. Nekuda kweizvozvo, zvinodiwa uye nzira dzekushandisa dzechaiyo-nguva yekufamba kutonga dzinosiyana. Kuwedzera kunzwisisa kwakadzama kweiyo marobhoti chikamu, APQ yakagadzira yakanangwa chaiyo-nguva yekudzora optimization mhinduro.
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Diverging Robotic Technology Routes & Processing Platform Sarudzo
Bipedal humanoid marobhoti ane dhizaini yakaita seyemunhu inokwenenzvera kuchinjika kune yakaoma terrain uye muviri wese wakarongeka mashandiro. Aya marobhoti anowanzo kuda 38 kusvika 70 maaxes ekudzora kufamba, zvinoreva zvakanyanyisa-chaiyo-nguva zvinodiwa uye kudzora kutenderera kusvika ku1000Hz. APQ inoshandisa high-performance X86 processors ine software tuning kusangana nezvido zvenguva chaiyo.
Kusiyana neizvi, marobhoti ane mavhiri kana base-mhando anotora dhizaini yakareruka, ichipa mabhenefiti makuru mukudzora mutengo, kufamba zvakanaka, uye hupenyu hwebhatiri. Aya anowanzo kuve neanosvika makumi matatu madhigirii erusununguko uye yakaderera kudiwa kweiyo-chaiyo-nguva komputa, asi inonzwa zvakanyanya pakushandiswa kwesimba. Kune ichi chikamu, APQ inoshandisa yakaderera-simba, yakaderera-mutengo mapuratifomu seIntel® N97 kana J6412 kuvaka yakakwana mhinduro. Izvi zvinoyera kushanda kwesimba uye mutengo uku uchisimudzira hupfumi hwekusimudzira ecosystem yeX86 papuratifomu kusangana nezvinodiwa zvekudzora system chaiyo-nguva kuita, kugadzikana, kubatanidzwa, uye compactness.
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APQ's EtherCAT Chaiyo-Nguva Kudzora Optimization Nyaya Yekudzidza
Maitiro Okushandisa
Marobhoti ane mavhiri / base anowanzo shandiswa mukuomarara trajectory control, multi-axis linkage, chiono-inotungamirwa kufamba, uye zvakafanana maapplication. Maitiro avo ekutonga anofanira kutsigira:
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EtherCAT high-speed bus communicationye synchronized servo control
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Yakaoma chaiyo-nguva OSkune sub-millisecond mhinduro
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Compact industrial designyakakodzera kune yakasimba wiring kana kabhineti nzvimbo
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Expandable portskusanganisira akawanda serial uye LAN ports yeakasiyana peripheral kubatanidzwa
Mumwe mutengi, kugadzira robhoti yakawanda-axis, inoda rubatsiro rweEtherCAT uye kushanda kwepamusoro-nguva chaiyo. Zvisinei, kuedza neN97 platform uye servo drivers kwakaratidza kuti EtherCAT yekukurukurirana kutenderera haigoni kusvika pasi pe50μs, ichigadzira bhodhoro rakakosha rekugadzirwa kwehuwandu.
Real-Nguva Optimization Nzira
Ichishandisa iyo N97 uye J6412 mapuratifomu, APQ yakaita yakazara system-level real-time tuning. Muenzaniso maitiro eN97 papuratifomu:
1. OS Chinja kuLinux Xenomai Zvakatipoteredza:
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Ubuntu 20.04 + Linux Kernel 5.15
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Chaiyo-nguva chigamba: Xenomai 3.2 (inoenderana neLinuxCNC)
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Kuenderana kwakaedzwa kune nhaka yemutengi (Kernel 4.19 + Xenomai 3.1)
Matanho ekugadzirisa nguva chaiyo:
a) BIOS kugadzirisa
b) Chaiyo-nguva kernel parameter optimization (ECI)
c) Cmdline parameter tuning (ECI)
d) Yakadzika OS-level kugadzirisa
e) Latency/Jitter zviyero
2. Yakajairwa Chaiyo-Nguva Yekuyedza Workflow:
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Zvishandiso:Latency, Clocktest, LinuxCNC test modules
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Zvinangwa:
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Latency: Kunonoka kukuru <40μs
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Clocktest: Drift ≈ 0 (3rd column pedyo ne zero mugumisiro)
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Kuuraya:Multiple kutenderera kwekuyedzwa mukati me Hardware batches (kusanganisira J6412 sekuenzanisa)
Test Result:
Pasi peLinux Xenomai nharaunda, kudzora kutenderera nguva uye jitter yakagadziridzwa zvakanyanya. Iyo latency yakaramba iri pasi pe40μs mukati, nepo clocktest drift yakasvika zero - kusangana nezvido zvekushandisa.
Real-World Application Migumisiro
Multi-Axis Robotic Arm Control
Dambudziko:
8-axis synchronized welding inodiwa μs-level sync; mhinduro dzechinyakare dzakakonzera kukukurwa uye zvikanganiso zvetrajectory.
Optimization:
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J6412 ine Ubuntu 20.04 + Xenomai 3.2
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4x Gigabit LAN yakananga kuEtherCAT servo
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Isolcpus yakatsaurirwa chaiyo-nguva yekugadzirisa cores
Mhinduro:
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Sync Precision:Clocktest drift ≤ 0.05μs; Max trajectory kutsauka <0.1mm
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Real-Time Assurance:72h inoramba ichishanda, peak latency ≤ 38μs
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Kuderedza Mutengo:35% yakaderera mutengo, 60% shoma simba pane i5 mhinduro
Quadruped Robot Imbwa Motion Control
Dambudziko:
12-joint dynamic balancing inodiwa μs-level mhinduro; legacy system latency> 100μs yakakonzera kusagadzikana
Optimization:
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N97 + Xenomai 3.2
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PREEMPT_RT + ECI chigamba
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Cmdline yakasarudzika 2 CPU cores ye servo mabasa
Mhinduro:
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Low Latency:Kudzora kutenderera mukati me500μs, latency ≤ 35μs
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Kusimba:Mu -20 ° C kupora bvunzo, jitter <±8μs
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Kuwedzera:IMU sensor kuburikidza neM.2; 60% simba rekuchengetedza pamusoro pe i3-based solution
Deployment Options
Kune vatengi vanogona hunyanzvi vanotarisa pane chaiyo-nguva kuita, APQ inokurudziraLinux + Xenomaideployment. Kune vekupedzisira-vashandisi vanosarudza kunze-kwe-bhokisi nyore, APQ inopawopre-yakaiswa uye yakagadziridzwa system mifananidzonezvinyorwa zvekugadzirisa - kuderedza zvipingamupinyi zvekutumira.
Sezvo marobhoti ari kuwedzera kutsiva mabasa emaoko,chaiyo-nguva, yakagadzikana, uye inodhura-inoshanda kudzora masisitimukuva yakakosha pakubudirira. APQ iri kusangana nechido ichi kuburikidza neyakasanganiswa Hardware-software mhinduro uye icharamba ichidzamisa tarisiro yayo parobhoti kumucheto komputa uye kufambisa kudzora - kupa simba vatengi vemaindasitiri nemapuratifomu akagadzikana, anoshanda, uye nyore nyore akabatanidzwa.
Kana iwe uchifarira kambani yedu uye zvigadzirwa, inzwa wakasununguka kubata mumiriri wedu mhiri kwemakungwa, Robin.
Email: yang.chen@apuqi.com
WhatsApp: +86 18351628738
Nguva yekutumira: Jul-28-2025