I-APQ Flagship Embodied Intelligence Controller TER40J-A6 kwi-Bipedal Humanoid Robot Application
Iirobhothi ezibizwa ngokuba ziiBipedal humanoid zimele ukugqitywa kobuchwepheshe bobukrelekrele obubonakalayo. Imo yazo efana neyabantu ivumela ukuziqhelanisa okungenamthungo neendawo zokusebenza zabantu, ibanika amathuba amaninzi okusetyenziswa kwimveliso yemizi-mveliso, iinkonzo zorhwebo, kunye nemisebenzi ekhethekileyo. Nangona kunjalo, imingeni yokulinganisela okuguquguqukayo ebangelwa yisakhiwo seBipedal ibeka iimfuno eziphezulu kakhulu kwinkqubo yolawulo oluphambili kunezo zezinye iirobhothi—kufuneka igqibezele umjikelo opheleleyo wokuqonda, ukwenza izigqibo, kunye nolawulo ngaphakathi kwee-milliseconds.
Emva kweenkqubo ezininzi zovavanyo kunye nokuqinisekiswa okungqongqo kwentsimi, ekugqibeleni umthengi ukhethe umlawuli wobukrelekrele ophambili we-APQ, i-TER40J-A6, njengeqonga lolawulo eliphambili lerobhothi yakhe entsha engumntu onemilenze emibini.
- Imfuno Egqithisileyo Yekhompyutha Ye-AI:Irobhothi enombala ofana nomntu ene-bipedal kufuneka isebenzise iimodeli ezinkulu ze-multimodal ngexesha langempela emphethweni ukuze yenze imisebenzi enzima ye-AI efana nokuqonda okusingqongileyo, ukuqonda intsingiselo, kunye nokucwangcisa imisebenzi, nto leyo efuna ukusebenza kwe-AI kwinqanaba le-TOPS eliwaka.
- Ukufunyanwa kweeVidiyo zeHD zeZitshaneli ezininzi eziHlanganisiweyo:Irobhothi ifuna iikhamera ezininzi ze-HD ukuze ifikelele kumbono wokusingqongileyo we-360-degree, nto leyo efuna ukuba isilawuli sixhase ii-interfaces ezininzi zekhamera ze-GMSL2 kunye nokukwazi ukuvumelanisa ixesha le-GNSS.
- Ukuhlalisana kweNethiwekhi eKhawulezayo kunye neZibonakaliso zeShishini zeXesha langempela:Ifuna uthungelwano lweklasi ye-10GbE ukuze kubuyiselwe idatha enkulu kunye nokukhupha idatha yoqeqesho, ngelixa ikwaxhasa iprotokholi ye-Ethernet ye-industrial real-time ye-EtherCAT ukuqhuba zonke ii-motors ezidibeneyo zerobhothi.
- Ulawulo lwe-Big-Brain/Small-Brain oluDibeneyo lweXesha langempela:Ukuhamba ngeenyawo ezimbini kufuna imijikelo emifutshane kakhulu yokulawula intshukumo. Ukulibaziseka konxibelelwano lwezakhiwo zemveli "ezahlulwe ngengqondo enkulu kunye nengqondo encinci" akunakuhlangabezana neemfuno zexesha langempela zokuhamba ngeenyawo ezimbini okunamandla kakhulu, okwenza uyilo oludibeneyo lwekhompyutha kunye nolawulo lube yimfuneko.
- Iindlela zoNxibelelwano oluTyebileyo lweMizi-mveliso:Isilawuli kufuneka ngaxeshanye siqhagamshelane nee-servo motors ezidibeneyo, ii-force sensors, ii-IMU, ii-LiDARs, kunye nezinye izixhobo, zifuna iitshaneli ezininzi ze-CAN FD, ii-serial ports, i-GPIO, kunye nezinye ii-interfaces ezibanzi.
- Ukumelana nokungcangcazela kokusebenza okunamandla aphezulu:Ngexesha leentshukumo ezinamandla kakhulu ezifana nokubaleka, ukutsiba, nokudanisa, irobhothi enombala ofana nomntu ifumana ukungcangcazela okukhulu kunye nokubetheka, nto leyo edinga ukuba isilawuli sibe noyilo olubalaseleyo lokulwa nokungcangcazela kunye nezakhiwo zomjelo wokutshixa.
- Ii-TFLOPS ze-AI Performance zika-2070, ezidibanisa imisebenzi ye-Big-Brain kunye ne-Small-Brain:I-TER40J-A6 ixhotyiswe nge-NVIDIA Jetson Thor T5000 core module, enika ukusebenza kwe-AI ukuya kuthi ga kwi-2070 TFLOPS (i-FP4 sparse). Xa ithelekiswa neqonga leJetson AGX Orin, imele ukutsiba okusemgangathweni—enee-CPU cores ezingaphezulu kwaye malunga nokusebenza kweCPU okuphindwe kabini ukuya kathathu. Eli nqanaba lamandla ekhompyutha livumela iirobhothi ezi-bipedal humanoid ukuba zisebenzise iimodeli zolwimi lombono omkhulu, iimodeli zokuqonda ezininzi, kunye nee-algorithms ezintsonkothileyo zokucwangcisa imisebenzi ngexesha langempela kumda, okuvumela ngokwenene ukucubungula okukrelekrele ukusuka "ekuqondeni" ukuya "ekuthathweni kwezigqibo."
- Ii-Interfaces zeKhamera zeGMSL2 ezisi-8 zePanoramic Perception:I-TER40J-A6 iza nemigangatho eneekhamera ezisi-8 ze-GMSL2 kwaye ixhasa ukuvumelanisa ixesha le-GNSS. Ezi khamera zisi-8 zinokuqhagamshela ngokuthe ngqo kwiikhamera ezininzi ze-HD, zivumela ukuqonda okusingqongileyo okungenamabala angama-360 kwiirobhothi ezi-bipedal humanoid. Ukuvumelanisa ixesha le-GNSS kuqinisekisa ukulungelelaniswa ngokuchanekileyo kwimifanekiso emininzi, kubonelela ngenkxaso yedatha esemgangathweni kwimisebenzi ephambili efana ne-SLAM mapping, ukulandelwa kwethagethi, kunye nokuphepha imiqobo enamandla.
- Uyilo oluManyeneyo lweComputer-and-Control, olususa ukwahlulwahlulwa kweBig-Brain/Small-Brain:Yakhelwe kwiqonga likaJetson Thor, i-TER40J-A6 ibekwe njengomlawuli odibeneyo wengqondo enkulu/ubuchopho obuncinci wobukrelekrele obubonakalayo. Ayipheleli nje ekubeni yinxalenye "yobuchopho obukhulu" yokuqonda kwe-AI kunye nokwenza izigqibo, kodwa ikwathatha indima "yobuchopho obuncinci" yokulawula intshukumo ngexesha langempela ngokusebenzisa iindlela zayo zonxibelelwano ezityebileyo zoshishino, izalisekisa ngokwenene uyilo oludibeneyo lwengqondo enkulu/ubuchopho obuncinci. Olu lwakhiwo lususa ngokusisiseko ukulibaziseka kolawulo okubangelwa kukulibaziseka konxibelelwano kwizisombululo zemveli ezahlulwe "yingqondo enkulu + ubuchopho obuncinci" kwaye ibonelela ngesiseko esiqinileyo sehardware solawulo olunamandla kakhulu lwexesha langempela kwi-bipedal locomotion.
- Uphuculo olupheleleyo loNxibelelwano lweMizi-mveliso lokudibanisa izixhobo ezininzi:I-TER40J-A6 iphucule ujongano olupheleleyo lwezicelo zeerobhothi ezisebenzisa i-bipedal humanoid: ii-ports ze-2 × 10GbE + ii-ports ze-Gigabit Ethernet ezizimeleyo ze-4 × (ezinye zee-ports ze-Gigabit zixhasa i-EtherCAT): Ii-ports ze-10GbE zivumela ukukhutshwa ngokukhawuleza kwedatha yoqeqesho lweemodeli ezinkulu, zibonelela ngezinto ezisemgangathweni ophezulu zokuphindaphinda nokuphucula i-algorithm ye-AI rhoqo. Iizibuko zeGigabit zinganikezelwa kunxibelelwano lwe-joint-servo, ukufikelela kwiLiDAR, kunye nonxibelelwano lwangasemva, okuvumela ukwahlukana kwezithuthi ngaphandle kokuxinana; iitshaneli ze-CAN FD ezi-4 ×: Ziqhagamshela ngqo nenkqubo ye-servo drive edibeneyo yerobhothi ye-bipedal humanoid ukuze kufezekiswe ulawulo oluchanekileyo oluhambelanayo olune-axis ezininzi; ii-port ze-2 × RS232/RS485: Ziqhagamshelane ngokuthe ngqo nezixhobo ezifana nee-force sensors kunye nee-IMU; iitshaneli ze-16 × GPIO: Ziququzelele ukwandiswa kweziphumo ze-alamu, izalathisi zesimo, kunye nezinye ii-interfaces ze-actuator; ii-interfaces ezongezelelweyo ze-I2C, SPI, TTL, PPS_IN, kunye ne-2 × PWM ukuhlangabezana neemfuno zokwenza ngokwezifiso ezinzulu; ii-port ze-3 × USB 10Gbps + 1 × USB 5Gbps zokudibanisa indawo yokugcina ekhawulezayo, iikhamera zoshishino, iimodyuli zelizwi, i-radar, ii-force sensors, kunye nezinye izixhobo; i-interface ye-1 × HDMI yokulungisa iimpazamo kunye nokubona izinto zasekhaya.
- Uyilo olupheleleyo lwe-Anti-Vibration lwe-High-Dynamic Operation:Ngexesha lezenzo ezinamandla kakhulu ezifana nokubaleka, ukutsiba, kunye nokudanisa, umlawuli werobhothi enomlinganiswa ohamba ngeenyawo uphantsi kokungcangcazela okunamandla kunye nefuthe eliqhubekayo. I-TER40J-A6 inoyilo olupheleleyo, olucwangcisiweyo lokulwa nokungcangcazela kwinqanaba le-interface: Ii-interface zekhamera ze-GMSL zinezakhiwo ezakhelwe ngaphakathi zokutshixa i-latch ukuqinisekisa uqhagamshelo olukhuselekileyo lweekhamera ezininzi ze-HD ngexesha lokushukuma okunamandla; Ii-interface zenethiwekhi zamkela i-Mini I/O form factor kwaye zineendlela zokutshixa, zibonelela ngokumelana okuphezulu kokungcangcazela xa kuthelekiswa nezihlanganisi zendabuko ze-RJ45; Ii-interface ze-USB zibonelela ngezikhundla ezibekelwe izikrufu ezijikeleze ii-ports, zivumela iintambo ukuba ziqiniswe ngakumbi ngokuzibophelela; Le nkqubo epheleleyo ye-interface iqinisekisa ukuba umlawuli unokuxhasa ngokuzinzileyo iirobhothi zeprototype ekwenzeni izenzo ezintsonkothileyo, ezinamandla aphezulu, ezinefuthe eliphezulu ezifana nokudanisa kunye nokuqubha.
- Ukwandiswa Okungenazingcingo kunye Nokuthembeka Kwamanqanaba Emizi-mveliso:I-TER40J-A6 ixhasa indawo ye-M.2 Key-M yokwandiswa kwe-NVMe SSD, indawo ye-M.2 Key-B yokwandiswa kwemodyuli ye-4G/5G, kunye nendawo ye-M.2 Key-E yokwandiswa kwemodyuli ye-Wi-Fi/Bluetooth. Ukulungiswa kwe-debugging kunye ne-flashing interfaces ezigciniweyo, kunye nendawo yekhadi le-SIM, zibonelelwa ecaleni ukuze kube lula ukugcinwa nokuphuculwa. Iyunithi yonke ilinganisa kuphela i-168.2 × 130 × 72.6 mm, isebenzisa ukupholisa okusebenzayo okukrelekrele, ixhasa amandla okufaka amandla e-12–28 VDC, inikezela ngoluhlu lobushushu bokusebenza oluphakathi kwe--20 ukuya kwi-50°C kunye noluhlu lobushushu bokugcina oluphakathi kwe--40 ukuya kwi-80°C, kwaye iphumelele uvavanyo lokungcangcazela kunye noxinzelelo oluqatha.
- Impumelelo epheleleyo yeBottleneck yeComputer:Nge-2070 TFLOPS yokusebenza kwe-AI ephezulu kakhulu, iimodeli ezinkulu ze-multimodal zinokusebenza ngexesha langempela emphethweni. Isantya sempendulo kwimisebenzi ye-AI enzima efana nokuqonda okusingqongileyo, ukuqonda intsingiselo, kunye nokucwangcisa imisebenzi kufikelele kwinqanaba eliphezulu kwizisombululo zendabuko, kubonelela ngesiseko esinamandla sekhompyutha kwiirobhothi ezi-bipedal humanoid ukuba ziguquke ukusuka ekubeni "zikwazi ukuhamba" ukuya ekubeni "zikwazi ukucinga nokwenza izigqibo."
- Ubuchopho Obukhulu Obudibeneyo kunye Nobuchopho Obuncinci, Ulawulo Oluphantse Lungabikho:Uyilo oludibeneyo lwekhompyutha kunye nolawulo lweqonga likaJetson Thor lususa ngokupheleleyo ukubambezeleka konxibelelwano kwezisombululo zemveli ezahlulwe "yingqondo enkulu kunye nengqondo encinci". Imiyalelo yokulawula ukuhamba kwe-bipedal inokugqibezela iluphu ukusuka ekuqondeni ukuya ekusebenzeni ngaphakathi kwemizuzwana emincinci, iphucula kakhulu uzinzo lokuhamba kunye nesantya sempendulo eguqukayo.
- Umbono wePanoramic ongenamachaphaza angaboniyo:Iikhamera ezisi-8 zeGMSL2, ezidityaniswe nokuvumelanisa ixesha le-GNSS, zivumela ukufunyanwa ngokuchanekileyo kunye nokulungelelaniswa kwexesha kwemifanekiso emininzi ye-HD, okuvumela amandla okubona kwerobhothi angama-360-degree ukugubungela iimfuno ezahlukeneyo zeemeko ezifana nokuqondwa komhlaba okunzima, ukuphepha imiqobo enamandla, kunye nokulandelela ithagethi.
- Zombini uNxibelelwano oluPhezulu kunye noLawulo lweXesha langempela:Iiports ze-2 × 10GbE ziqinisekisa ukuhlanganiswa kwevidiyo ye-HD kunye nedatha yokuqonda ngesantya esiphezulu, okuvumela ukukhutshwa ngokukhawuleza kwedatha yoqeqesho kwiimodeli ezinkulu kunye nokuxhasa ukwenziwa ngcono kwe-algorithm ye-AI okuqhubekayo. Iiports ze-4 × GbE zixhasa i-EtherCAT, okuvumela ulawulo lwexesha langempela lweemoto ezidibeneyo kwinqanaba le-microsecond.
- Ukhuseleko olupheleleyo lwe-Anti-Vibration kwimisebenzi enamandla kakhulu:Amanyathelo amaninzi okulwa nokungcangcazela—kuquka izihlanganisi zeGMSL ezitshixiweyo, ukutshixa iiports zenethiwekhi zeMini I/O, kunye neendawo zokubopha ngezikrufu ezijikeleze ii-interfaces ze-USB—ziqinisekisa ukusebenza okuzinzileyo komlawuli ngexesha lezenzo ezinamandla kakhulu ezifana nokubaleka, ukutsiba, kunye nokudanisa, ngokusisiseko zisombulula iingxaki eziqhubekayo kwizisombululo zemveli apho ukungcangcazela kubangela ii-interfaces ezikhululekileyo kunye nokuphazamiseka kwesignali okomzuzwana.
- Ukudibanisa Izixhobo Ezininzi Kwiqonga Elinye, Kwenza Lula Kakhulu Uyilo Lweenkqubo:Ii-interfaces ezityebileyo eziquka i-4 × CAN FD, i-2 × RS232/485, i-16 × GPIO, kunye ne-I2C/SPI/PPS zivumela uqhagamshelo lweqonga elinye kwii-servo ezidibeneyo, ii-force sensors, ii-IMU, ii-LiDARs, iikhamera ze-HD, kunye nezinye izixhobo. Ukusasazwa kwenkqubo epheleleyo kunokugqitywa ngaphandle kweemodyuli ezongezelelweyo zokwandisa, nto leyo enciphisa kakhulu ubunzima bokuhlanganiswa kwenkqubo kunye neendleko ze-BOM.
