Ucwaningo Lwesibonelo Sokusetshenziswa: I-APQ TER30R-A2 Yerobhothi Elinezinqe
Njengoba i-biomimetic locomotion kanye nokuzivumelanisa nezimo okunamandla endaweni eyinkimbinkimbi, amarobhothi anama-quadruped asetshenziswa ngokushesha ekuhlolweni kwamandla, ukuqapha kokuphepha komphakathi, ukulwa nomlilo kanye nokutakula, kanye nokuqapha amapaki ezimboni. Nokho, ekusetshenzisweni kwangempela, izinhlelo zabo zokulawula ukunyakaza zibhekene nezinselele eziningi. Isilawuli kumele sihlale sizinzile ngaphansi kokudlidliza okuvama kakhulu kanye nokushintsha kokuma okungazelelwe, sivumelanise ama-motor angaphezu kuka-12 ahlangene ngokunemba okuphezulu, futhi sifake ukubala okusebenzayo okuphezulu emgodini womzimba ovinjelwe kakhulu lapho yonke i-millimeter yesikhala ibalulekile.
Ngemva kokuhlolwa komkhiqizo izikhathi eziningi kanye nokuhlolwa okuqinile kwensimu, ikhasimende likhethe isilawuli sokulawula ukunyakaza esibizwa ngokuthi “cerebellum” se-APQ TER30R-A2 njengeyunithi eyinhloko yokulawula ukunyakaza kwerobhothi layo elinezinzwane ezine lesizukulwane esilandelayo.
- Izidingo Zokulawula Ukunyakaza Okuqinile Kwesikhathi Sangempela:Ukugijima, ukugxuma, nokujika kubeka izidingo eziqinile zomjikelezo wokulawula. Kumvamisa yokulawula engu-1,000 Hz, ukujikijela kohlelo kumele kuhlale ngaphansi kwama-μs angu-20 ukuqinisekisa ukuvumelanisa okunembile nokubushelelezi phakathi kwamalunga amaningi.
- Ukuhlanganiswa Kwamadivayisi Anezixhumi Eziningi: Uhlelo kumele luxhume i-LiDAR, amakhamera okujula, i-IMU, ama-motor ahlangene angaphezu kuka-12, kanye nezinzwa eziningi ngasikhathi sinye, okudinga isilawuli esinezinsizakusebenza eziningi ze-I/O zezimboni.
- Izithiyo Zesikhala Esincane Kakhulu:Isikhala ngaphakathi kwe-torso yerobhothi kanye nezingxenye ezihlangene sincane kakhulu. Isilawuli kumele sinikeze ukusebenza okudingekayo ngendlela encane kakhulu, enciphile, sishiya isikhala esengeziwe samabhethri, izinzwa, kanye namanye amamojula asebenzayo.
- Ukudlidliza Okuqinile Nokumelana Nokwethuka:Ngesikhathi sokugijima, ukugxuma, kanye nokudlula ezithiyweni, irobhothi lihlala livezwa ukudlidliza okukhulu kanye nokushaqeka. Ngakho-ke, umklamo ohlanganisiwe osezingeni lebhodi uyadingeka ukuvimbela izixhumi ukuthi zingakhululeki ngaphansi kokudlidliza.
- Ikhompyutha ye-AI ye-Lightweight Edge:Isilawuli sidinga futhi ikhono lokubona i-AI enqenqemeni ukuze kusetshenziswe ama-algorithms alula ukuze kuqashelwe indawo, kugwenywe izithiyo ezinamandla, kanye nemisebenzi efanayo ehlakaniphile.
- Ukulawula Ukunyakaza Okunembile Ngokuvumelanisa Okuyi-36-Axis:I-TER30R-A2 inikwe amandla yi-Rockchip RK3588 octa-core 64-bit processor ene-6 TOPS NPU ehlanganisiwe. Isekela ukulawula okuvumelanisiwe kwama-axis afinyelela ku-36. Kumvamisa yokulawula engu-1,000 Hz, ukujima kohlelo kuhlala kungaphansi kwama-μs angu-20. Kungakhathaliseki ukuthi kuxhumanisa amalunga amaningi ngesikhathi sokugijima, ukwenza ukujika okusheshayo, noma ukudabula indawo eyinkimbinkimbi, isilawuli sinikeza ukulawula kokunyakaza okunembile nokubushelelezi, okunikeza isisekelo esizinzile nesithembekile sokusebenza kwerobhothi elinamandla.
- I-I/O Ecebile Yokuhlanganiswa Kwamadivayisi Amaningi:I-TER30R-A2 inomklamo we-I/O owakhelwe ngenhloso wezinhlelo zamarobhothi ezine, ohlanganisa ama-joint drive, amadivayisi okuqonda, amanethiwekhi ezimboni, kanye nezixhumanisi ze-actuator kusilawuli esisodwa.
· Amachweba e-CAN FD angu-4 ×: Ukuxhumeka okuqondile kuma-motor ahlangene angaphezu kuka-12 kanye nezinhlelo zawo zokushayela ukuze kulawulwe kahle kakhulu okuvumelaniswe nge-multi-axis.
· Amachweba e-Gigabit Ethernet angu-3 ×: Usekelo lwe-EtherCAT lokuxhumana kwe-Ethernet yezimboni okuqinisekile, kwesikhathi sangempela.
· Imbobo engu-1 × 2.5GbE + imbobo engu-1 × GbE: Imbobo engu-2.5GbE inikeza ukuxhumana okusheshayo nesilawuli sokubona, kuyilapho imbobo ye-GbE isekela ukufaka idatha ye-LiDAR point-cloud.
· Izixhumi ze-USB ezingu-8 × (3 × USB 5Gbps Uhlobo-C, 1 × USB 2.0 Uhlobo-C, kanye nezinhloko ze-USB 2.0 zangaphakathi ezingu-4 ×): Sekela ukuxhumana ngasikhathi sinye kwe-LiDAR, amakhamera okujula, amathuluzi okuqalisa, kanye nezinye izinto eziphathelene nokuxhumana.
· Amachweba angu-4 × angashintshanayo e-RS-232/RS-485: Ukuxhumeka okuthembekile kwama-IMU, izinzwa ze-ultrasonic, nezinye izinto ezisetshenziswayo.
· Iziteshi ze-GPIO ezingu-8 × + 2 × PWM: Ukwandiswa okuguquguqukayo kokulawula ukukhanya, okukhiphayo kwe-alamu, kanye nezinye izixhumi ze-actuator.
· 1 × HDMI okukhiphayo + 1 × isikhombikubona somsindo: Kulula kakhulu ukucushwa kwendawo kanye nokuboniswa kwesimo. - Umklamo Oqinile Kakhulu Wokuhlanganiswa Okuguquguqukayo:Njengoba ilinganisa u-118.2 mm × 128.5 mm × 35 mm kuphela, isilawuli sincane kakhulu, sinobukhulu obucishe bulingane nobubanzi bemali. Isembozo saso esigcwele i-aluminium sisekela ukufakwa kwe-bracket futhi singafakwa kalula emzimbeni werobhothi noma ezingxenyeni ezihlangene, silondoloze isikhala esibalulekile samabhethri, izinzwa, namanye amamojula. Umklamo wesitoreji esihlanganisiwe kanye nememori ongaphakathi ebhodini ususa izingozi zokukhulula izixhumi ezibangelwa ukudlidliza, okuqinisekisa ukusebenza okuzinzile ngesikhathi sokusebenza okunamandla kanye nemisebenzi yendawo eyinkimbinkimbi.
- Ukwandiswa Okungenantambo Kokusetshenziswa Okuhlukahlukene:Isilawuli sinikeza isikhala se-M.2 Key-B (USB 5Gbps, 3042/3052 form factors, esinesikhala se-Nano-SIM) samamojula we-4G/5G, kanye nesikhala se-M.2 Key-E (PCIe 2.0 ×1 + USB 2.0) samamojula we-Wi-Fi/Bluetooth. Kungakhathaliseki ukuthi isetshenziswa eziteshini ezikude noma ezindaweni zokuqapha zezimboni zasemadolobheni, ivumela ukuxhumana kwesikhathi sangempela kumapulatifomu amafu nezikhungo zomyalo.
- Ukuthembeka Kwezinga Lezimboni Kwemisebenzi Enamandla Kakhulu:I-TER30R-A2 yenzelwe izindawo zamarobhothi ahambayo ezinokudlidliza okukhulu kanye nokushaqeka, ngenkathi inikeza ukusebenza kwezinga lokushisa elibanzi, ukufaka amandla kagesi abanzi, kanye nokugcinwa okulula endaweni.
· Izinga lokushisa lokusebenza: -10°C kuya ku-50°C; izinga lokushisa lokugcina: -40°C kuya ku-80°C.
· Kuqinisekiswe ngokudlidliza okungahleliwe kwe-3G kanye nokuhlolwa kokushaqeka kwe-30G ukuze kusebenze ngendlela ethembekile ngesikhathi sokugijima, ukugxuma, kanye nokudlula ezithiyweni.
· Okokufaka okubanzi kwe-VDC okungu-12-28 kusekela izinhlelo zebhethri lerobhothi ezinezilinganiso ezahlukene zama-voltage.
· Iphaneli engaphambili ihlanganisa inkinobho yokuvula amandla, inkinobho yokubuyisa uhlelo, inkinobho yokusetha kabusha uhlelo, kanye nezinkomba zesimo ukuze kuqaliswe futhi kulungiswe kahle endaweni.
- Ukulawula ukunyakaza okunembile nokubushelelezi:Iluphu yokulawula engu-1,000 Hz ene-system jitter engaphansi kwama-20 μs ivumela ukulawula okuvumelanisiwe kwe-36-axis, okushayela ngokunembile ama-joint motors ukuze agijime ngokwemvelo, agxume, futhi ajike ngenkathi egcina ukuma okuzinzile endaweni eyinkimbinkimbi.
- Ukuhlanganiswa kwamadivayisi amaningi konke-ku-munye:Ama-port angu-4 × CAN FD, 3 × EtherCAT anekhono le-Ethernet, 8 × USB, kanye nama-port angu-4 × avumela ukuhlanganiswa okuqondile kwama-joint motors, i-LiDAR, amakhamera okujula, ama-IMU, namanye amadivayisi ngaphandle kwamamojula engeziwe okunweba, okwenza kube lula kakhulu ukwakheka kwesistimu..
- Ukufakwa okuncane kukhulula isikhala esibalulekile:Isici sokwakheka esincanyana kakhulu esingu-118.2 mm × 128.5 mm × 35 mm singena kalula ngaphakathi komzimba werobhothi, sishiya isikhala esengeziwe samabhethri, izinzwa, kanye namanye amamojula asebenzayo.
- Izinzile futhi ithembekile ngaphansi kokunyakaza okunamandla aphezulu:Idizayini ehlanganisiwe yezinga lebhodi inciphisa izingozi zokuxhumeka okuhlobene nokudlidliza, kuyilapho ukudlidliza kwe-3G kanye nokuqinisekiswa kokushaqeka kwe-30G kuqinisekisa ukusebenza okuthembekile ngesikhathi sokugijima, ukugxuma, kanye nokudlula ezithiyweni.
- Ikhompyutha ye-AI enqenqemeni elula:I-6 TOPS NPU ehlanganisiwe isekela ukuqagela kwe-AI enqenqemeni elula yokuqashelwa kwendawo, ukugwema izithiyo eziguquguqukayo, kanye nemisebenzi efanayo, okunikeza isisekelo sokubala samarobhothi anama-quadruped ukuze aguquke kusukela ekuhambeni okuzenzakalelayo kuya ekwenzeni izinqumo okuzenzakalelayo.
