Isifundo seTyala seSicelo: I-APQ TER30R-A2 yeRobhothi enezine
Ngenxa yokuhambahamba kwezinto eziphilayo kunye nokuziqhelanisa ngamandla nomhlaba onzima, iirobhothi ezine-quadruped ziyasetyenziswa ngokukhawuleza ekuhlolweni kwamandla, ukujikeleza kokhuseleko loluntu, ukulwa nomlilo kunye nokuhlangula, kunye nokubeka esweni iipaki zemizi-mveliso. Nangona kunjalo, kwiindawo zokusasazwa kwehlabathi lokwenyani, iinkqubo zabo zokulawula ukuhamba zijongene nemingeni emininzi. Umlawuli kufuneka ahlale ezinzile phantsi kokungcangcazela okuphezulu kunye notshintsho lwesimo esikhawulezileyo, avumelanise iimoto ezingaphezulu kwe-12 ezidibeneyo ngokuchanekileyo okuphezulu, kwaye afake ikhompyutha esebenza kakhulu kwindawo yomzimba exineneyo apho yonke i-millimeter yendawo ibalulekile.
Emva kovavanyo oluninzi lwemveliso kunye novavanyo olucokisekileyo lwasentsimini, umthengi ukhethe isilawuli se-APQ TER30R-A2 esinobukrelekrele sokulawula intshukumo "cerebellum" njengeyunithi ephambili yokulawula intshukumo kwirobhothi yakhe yesizukulwana esilandelayo enamavili amane.
- Iimfuneko zoLawulo lweMoto oluQhelekileyo lweXesha langempela:Ukubaleka, ukutsiba, nokujika kubeka iimfuno ezingqongqo zomjikelo wolawulo. Kwi-frequency yolawulo ye-1,000 Hz, i-system jitter kufuneka ihlale ingaphantsi kwe-20 μs ukuqinisekisa ukuhambelana okuchanekileyo nokugudileyo kumalungu amaninzi.
- Ukuhlanganiswa kweZixhobo eziDibeneyo ezininzi: Inkqubo kufuneka idibanise iLiDAR ngaxeshanye, iikhamera zobunzulu, i-IMU, iimoto ezingaphezulu kwe-12 ezidibeneyo, kunye neesensa ezininzi, ezifuna umlawuli onezixhobo ezininzi ze-I/O kwimizi-mveliso.
- Imiqobo Yesithuba Esincinci Kakhulu:Isithuba ngaphakathi kwe-torso yerobhothi kunye neendawo ezidibeneyo sincinci kakhulu. Isilawuli kufuneka sinikezele ukusebenza okufunekayo ngendlela encinci kakhulu, edibeneyo, eshiya indawo engakumbi yeebhetri, ii-sensors, kunye nezinye iimodyuli ezisebenzayo.
- Ukungcangcazela Okuqinileyo kunye Nokumelana Nokothuka:Ngexesha lokubaleka, ukutsiba, kunye nokudlula kwimiqobo, irobhothi ihlala ichaphazeleka kukungcangcazela okukhulu kunye nokothuka. Ngoko ke, uyilo oludibeneyo olukwinqanaba lebhodi luyafuneka ukuthintela izihlanganisi ukuba zingakhululeki phantsi kokungcangcazela.
- Ikhompyutha ye-AI ye-Lightweight Edge:Isilawuli sikwafuna amandla okuqonda i-AI edge ukuze sisebenzise ii-algorithms ezilula zokuqaphela umhlaba, ukuphepha imiqobo enamandla, kunye nemisebenzi efanayo yobukrelekrele.
- Ulawulo lweNtshukumo echanekileyo ngoVumelwano lwe-36-Axis:I-TER30R-A2 iqhutywa yi-Rockchip RK3588 octa-core 64-bit processor ene-6 TOPS NPU edibeneyo. Ixhasa ulawulo oluhambelanayo olufikelela kwi-36 axes. Kwi-1,000 Hz control frequency, i-system jitter ihlala ingaphantsi kwe-20 μs. Nokuba idibanisa amalunga amaninzi ngexesha lokubaleka, ukwenza iinguqu ezikhawulezayo, okanye ukunqumla umhlaba onzima, i-controller inikezela ngolawulo oluchanekileyo nolugudileyo lwentshukumo, ibonelela ngesiseko esizinzileyo nesithembekileyo semisebenzi yerobhothi eneentshukumo ezine.
- I-I/O etyebileyo yokudibanisa izixhobo ezininzi:I-TER30R-A2 inoyilo lwe-I/O olwakhelwe injongo kwiinkqubo zeerobhothi ezine, oludibanisa ii-joint drives, izixhobo zokuqonda, iinethiwekhi zoshishino, kunye ne-actuator interfaces kwisilawuli esinye.
· Iiports ze-CAN FD ezi-4 ×: Uqhagamshelo ngqo kwiimoto ezingaphezulu kwe-12 ezidibeneyo kunye neenkqubo zazo zokuqhuba ukuze kulawulwe ngokuchaneka okuphezulu kwe-multi-axis synchronized.
· Iiports ze-Gigabit Ethernet ezi-3 ×: Inkxaso ye-EtherCAT yonxibelelwano lwe-Ethernet oluzenzekelayo nolwexesha langempela kwimizi-mveliso.
· Izibuko eli-1 × 2.5GbE + izibuko eli-1 × GbE: Izibuko eli-2.5GbE libonelela ngonxibelelwano olukhawulezayo nomlawuli wokuqonda, ngelixa izibuko eli-GbE lixhasa igalelo ledatha ye-LiDAR point-cloud.
· Ii-interface ze-USB ezi-8 × (3 × USB 5Gbps Uhlobo-C, 1 × USB 2.0 Uhlobo-C, kunye nee-headers ze-USB 2.0 zangaphakathi ezi-4 ×): Ixhasa uqhagamshelo ngaxeshanye lwe-LiDAR, iikhamera zobunzulu, izixhobo zokugunyazisa, kunye nezinye izinto ezisetyenziswa ngaxeshanye.
· Iiports ezi-4 × ezitshintshekayo ze-RS-232/RS-485: Uqhagamshelo oluthembekileyo lwee-IMU, izinzwa ze-ultrasonic, kunye nezinye izixhobo ezisetyenziswa kwi-peripherals.
· 8 × GPIO + 2 × PWM channels: Ukwandiswa okuguquguqukayo kolawulo lokukhanyisa, iziphumo ze-alamu, kunye nezinye iindawo zokunxibelelana kwe-actuator.
· Isiphumo se-HDMI esingu-1 × + ujongano lwesandi esingu-1 ×: Lulungele ukusetyenziswa kwefowuni kunye nokuboniswa kwesimo sayo. - Uyilo oluNcinci kakhulu loDibaniso oluGuquguqukayo:Ilingana ne-118.2 mm × 128.5 mm × 35 mm kuphela, isilawuli sincinci kakhulu, sinobukhulu obulingana nobubanzi bengqekembe. I-enclosure yayo epheleleyo ye-aluminium ixhasa ukufakwa kwe-bracket kwaye inokudityaniswa ngokulula kwi-torso yerobhothi okanye kwiindawo ezidibeneyo, igcina indawo exabisekileyo yeebhetri, ii-sensors, kunye nezinye iimodyuli. Uyilo oludibeneyo lokugcina kunye nememori lususa iingozi zokukhulula izixhumi ezibangelwa kukungcangcazela, luqinisekisa ukusebenza okuzinzileyo ngexesha lokusebenza okunamandla kunye nemisebenzi enzima yomhlaba.
- Ukwandiswa Okungenazingcingo Kweendlela Ezahlukeneyo Zokusasazwa:Isilawuli sinika i-M.2 Key-B slot (USB 5Gbps, 3042/3052 form factors, kunye ne-Nano-SIM slot) kwiimodyuli ze-4G/5G, kunye ne-M.2 Key-E slot (PCIe 2.0 × 1 + USB 2.0) kwiimodyuli ze-Wi-Fi/Bluetooth. Nokuba isetyenziswa kwizikhululo ezikude okanye kwiipaki zemizi-mveliso zasezidolophini, ivumela uqhagamshelo lwexesha langempela kwiiplatifomu zelifu kunye namaziko omyalelo.
- Ukuthembeka koMgangatho weShishini kwiMisebenzi eNgxamisekileyo yoBuchule obuPhezulu:I-TER30R-A2 yenzelwe iindawo zerobhothi eziphathwayo ezinokungcangcazela okuphezulu kunye nomothuko, ngelixa ibonelela ngokusebenza kobushushu obubanzi, igalelo lamandla e-wide-voltage, kunye nokugcinwa okulula kwindawo.
· Ubushushu bokusebenza: -10°C ukuya kuma-50°C; ubushushu bokugcina: -40°C ukuya kuma-80°C.
· Iqinisekiswe ngokusebenzisa ukungcangcazela okungahleliweyo kwe-3G kunye novavanyo lokukhwankqiswa kwe-30G ukuze isebenze ngokuthembekileyo ngexesha lokubaleka, ukutsiba, kunye nokudlula kwimiqobo.
· Igalelo le-VDC elibanzi eliyi-12-28 lixhasa iinkqubo zebhetri yerobhothi ezinemilinganiselo eyahlukeneyo ye-voltage.
· Iphaneli engaphambili idibanisa iswitshi yombane, iqhosha lokubuyisela inkqubo, iqhosha lokubuyisela inkqubo, kunye nezalathisi zesimo ukuze kusebenze kwaye kugcinwe kakuhle kwindawo yokusebenza.
- Ulawulo lwentshukumo oluchanekileyo nolugudileyo:Iluphu yokulawula eyi-1,000 Hz ene-system jitter engaphantsi kwe-20 μs yenza ukuba ulawulo lwe-36-axis oluhambelanayo lusebenze ngokuchanekileyo, luqhuba ii-joint motors ngokuchanekileyo ukuze zibalekele, zitsibe, kwaye zijike ngendlela yendalo ngelixa zigcina ukuma okuzinzileyo phezu komhlaba onzima.
- Ukudibanisa izixhobo ezininzi kuzo zonke izixhobo:I-4 × CAN FD, i-3 × EtherCAT-capable Ethernet, i-8 × USB, kunye ne-4 × serial ports zivumela ukuhlanganiswa ngokuthe ngqo kwee-joint motors, i-LiDAR, ii-depth cameras, ii-IMU, kunye nezinye izixhobo ngaphandle kwee-expansion modules ezongezelelweyo, nto leyo eyenza kube lula kakhulu uyilo lwenkqubo..
- Ukufakwa kwe-compact kukhulula indawo exabisekileyo:I-form factor encinci kakhulu eyi-118.2 mm × 128.5 mm × 35 mm ingena lula ngaphakathi kwe-torso yerobhothi, ishiya indawo engakumbi yeebhetri, ii-sensors, kunye nezinye iimodyuli ezisebenzayo.
- Izinzile kwaye ithembekile phantsi kwentshukumo enamandla aphezulu:Uyilo oludibeneyo olukwinqanaba lebhodi lunciphisa iingozi zoqhagamshelo olunxulumene nokungcangcazela, ngelixa ukungcangcazela kwe-3G kunye nokuqinisekiswa kokukhwaza kwe-30G kuqinisekisa ukusebenza okuthembekileyo ngexesha lokubaleka, ukutsiba, kunye nokudlula kwimiqobo.
- Ikhompyutha ye-AI ekhaphukhaphu:I-6 TOPS NPU edibeneyo ixhasa ukuqonda okukhanyayo kwe-AI yokuqaphela umhlaba, ukuphepha imiqobo enamandla, kunye nemisebenzi efanayo, ibonelela ngesiseko sokubala seerobhothi ezine-quadruped ukuba ziguquke ukusuka ekuhambeni okuzimeleyo ukuya ekwenzeni izigqibo ezizimeleyo.
