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Chapter 312 Completion of the robotic arm

Guo Yuan, Zhuge Chuang, and Zhao Liyi watched the whole test.

The smart door lock performed very well and had no issues during testing.

Guo Yuan is very satisfied with this.

"Boss, since we have already developed smart door locks, should we explore the smart home?" Zhuge Chuang suggested.

"Smart home?"

"Yes, smart homes are so popular now that many young people choose smart homes for decoration. I think this market is not small.

And we still have 02 in our hands. We have an advantage in artificial intelligence. First, we will build a smart speaker similar to Xiaoai or Xiaodu, and the rest is to link with various households. "

Hearing what Zhuge Chuang said, Guo Yuan also felt that this was a good idea, as if he could do it.

Just to what extent it is worth pondering.

The first is how far the artificial intelligence displayed to the outside world can only go. Like 02, it is definitely not enough. Although 02 is far behind 01, it is compared with 01 and other artificial intelligences on the market. Bi, that is Senior Brother Duan Shui Liu, who can completely say: I am not targeting you, I am saying that everyone here is rubbish.

"Forget it, let's put this matter aside for now! The Chinese New Year is coming soon, let's discuss it after the next year!"

Zhao Liyi and Zhuge Chuang nodded when they heard the words, but they just said casually that the company definitely doesn't have time to do these things now.

A few days later, Zhou Songfeng sent the new robotic arm.

According to Guo Yuan's request, the new robotic arm installed a miniature camera and a laser radar on the gripper. The radar is installed on the finger, and the camera is installed on the main body of the gripper.

Then Guo Yuan installed an algorithm system on the new robotic arm, and then connected it to the computer in the studio.

Then Guo Yuan entered commands on the command line to tighten the fingers, operated three fingers to simulate the action of grabbing, and detected the detection data of the camera and lidar.

Coincidentally, some time ago, the algorithm in Future Technology’s sweeping robot was related to environmental detection. Guo Yuan copied it directly. The two have similarities. They are both written by 01, and they are both combined with camera and radar scanning. The data can be used to build an environmental model, and it can be used directly.

This algorithm program will establish a digital model of the target object during scanning, and will also output the relative position difference between the gripper and the target object, providing data judgment basis for the gripper's subsequent grasping and avoiding actions.

After several parameter adjustments, Guo Yuan determined that the new grippers met his needs.

Then Guo Yuan synchronized the new data of the grippers to 01, and asked 01 to restart the grasping action test process.

This time Guo Yuan didn't choose nuts as the target to grab. He randomly chose an empty water bottle from Nongfu Spring as the target.

The gripper starts to rotate and snap together under the operation of 01. Compared with the previous version of the gripper, the current version of the gripper is much more complicated. 01 not only needs to control the movement of the gripper, but also handles the data collected by the gripper detection equipment. environmental data.

01 First, the grippers were controlled to circle around the water bottle. Guo Yuan saw that the digital simulation model of the water bottle was displayed in the simulation software on his notebook. The shape of the water bottle and the protrusion of the bottle cap were very clear in the simulated image. display.

After the model scanning of the water bottle was completed, Guo Yuan saw that the robotic arm was trying to grab the water bottle under the operation of 01. The position where the robotic arm grabbed for the first time was at the bottle cap, and the three grasping fingers clasped the bottle cap. When the mechanical arm rises, one side of the bottle cap also lifts up, but when the mechanical arm is raised to a certain extent, the water bottle falls out of the gripper.

Obviously, the first fetch fails.

01 started the second grasping attempt. After re-scanning to confirm the distance between the water bottle and the gripper, 01's second grasping position was in the middle of the water bottle. This time, the gripper tightly clasped the water bottle and firmly grasped the water bottle .

It's just that when the robotic arm was transferred to the other side and the water bottle was to be placed, the water bottle fell directly on the workbench the moment it was released because of the angle of placement.

Guo Yuan on the side naturally discovered this problem. The target object is in a stable state when grasping, but if the angle is not properly placed when placing it, the target object will definitely fall or roll.

Fortunately, when Guo Yuan designed the gripper, he added 180 degrees of freedom of rotation to the gripper, so that the gripper can cooperate with the robotic arm to adjust the placement angle of the object.

But how to judge the appropriate placement angle of the object, it seems that it can only be judged by 01 for the time being.

"01 Can you judge the placement angle of the target object?" Guo Yuan asked.

"It can be judged by calculation."

"Calculation? What if it doesn't pass the calculation?"

"Then we need to carry out relevant learning, which requires a large number of data samples." 01 replied.

"Understood, I will place multiple items for you to test, and then whether you can identify and learn the placement angles of different items from the video."

"Good Mr. Guo Yuan."

When placing items, people will consider many factors such as the shape, use, and quality distribution of the items, but these factors do not have a good quantitative analysis logic for the time being, so now they can only use 01's data analysis and summary capabilities to make their own judgments The angle at which the item is placed.

After a day of study, 01 has been able to make judgments based on different situations.

So far, the robotic arm is completely perfect.

"pat~"

"Clap~"

In the studio, Guo Yuan played table tennis with the robotic arm.

Table tennis is a national sport in China, Guo Yuan naturally knows it, and he is quite good at it.

He learned to play table tennis when he was in the fourth grade of elementary school, and Guo Yuan was a frequent visitor to the school's table tennis table.

In junior high school, Guo Yuan also participated in the school's table tennis competition and won No.3 individually and No.1 in the group.

But Guo Yuan didn't expect that he couldn't beat the mechanical arm manipulated by 01.

His balls are clearly calculated by 01, and the mechanical arm is flexible enough to cooperate with 01's calculations to make various counterattacks.

For half an hour, except Guo Yuan won the first goal at the beginning, he didn't win the next goal.

"Pa~" Guo Yuan scored another smash.

His face darkened and he threw the table tennis racket aside.

"Don't play anymore, it's boring."

01 heard that he manipulated the robotic arm to put down the racket.

Although he was hanged and beaten this time, Guo Yuan was not too angry. After all, this proved from the side that the research and development of the robotic arm had been completed. He planned to take the robotic arm to Academician Bai tomorrow.

It just so happened that he also wanted to use the robotic arm to make a corresponding workbench, and then build a 3D printer. These things need the help of Professor Bai to give some advice.

The next day Guo Yuan and Cheng Shuqing went to Academician Bai's laboratory together.

Bai Jingwen looked at Guo Yuan's robotic arm on the table, which was running stably. There was no movement or other abnormalities during the entire operation. After the measurement by the laboratory's professional testing equipment, the operating accuracy of the robotic arm met the full design standards.

Bai Jingwen's eyes were full of disbelief, and he opened his eyes wide and asked Guo Yuan, "Guo Yuan, are you sure that no other designs have been added to the robotic arm equipment? According to my previous estimation, the precision of the robotic arm design cannot reach the current level." .”

"No, Academician Bai, I developed it according to the design draft we discussed before."

Bai Jingwen personally entered a few operating instructions on the computer. These instructions are to make the mechanical arm deform and move at a large angle within a small range, involving the coordinated rotation and deformation of multiple joints.

When the mechanical arm was executing these instructions, the cold metal machine twisted and deformed in a short time, and the end of the mechanical arm finally stopped firmly at the target point.

After several sets of command input tests were completed, Bai Jingwen no longer had any doubts about the performance of the robotic arm in front of him.

Under the current material and equipment constraints, he thinks that the performance of the robotic arm in front of him is already the limit that he can imagine. There may be other geniuses who can design products with higher performance, but Bai Jingwen has not encountered such a product yet. people.

"I really didn't expect that the project could be completed so quickly. Now our project process has not yet been completed. How should we deal with this matter now?" Bai Jingwen murmured.

Guo Yuan was too embarrassed to say anything more, he planned to listen to Bai Jingwen's opinion first.

Bai Jingwen took out Guo Yuan's design draft and compared the output logs of the algorithm, especially the control algorithm log part of the dual motor drive. After reading it, he had to admire the superior performance of the algorithm designed by Guo Yuan, no matter what kind of rotation The scene and the algorithm can smoothly output the most excellent electric pulse frequency, so that the speed and acceleration of the motor can be precisely controlled, so that the robotic arm can move smoothly and smoothly.

After seeing this, Bai Jingwen was a little ashamed compared to the knowledge of dual-motor drive that he had given Guo Yuan. His own contribution to this project was negligible. If he asked to share scientific research results now, his old face would really be unbearable. .

With a decision in his heart, Bai Jingwen let out a long breath, and said to Guo Yuan: "Guo Yuan, how about it, I will withdraw the application for the cooperative scientific research project I mentioned earlier. All the results of this project belong to you, and I only need a right to use it." That's it.

I will help you with the follow-up related papers and patent applications, and I will be shameless enough to take the second work, let alone the project conclusion. "

Guo Yuan was a little surprised when he heard the words. He didn't expect Bai Jingwen to give up the project directly.

"Academician Bai, there's no need for you to give up on this project directly! Without your guidance, I wouldn't be able to complete the design drawings so quickly. You are a little underestimating yourself."

Bai Jingwen waved his hand when he heard the words: "Needless to say, this matter is settled like this. If this mechanical arm is not useful to the higher-ups, I would be ashamed to ask you for the right to use it and the name of the second author."

Seeing Academician Bai's insistence, Guo Yuan didn't say anything more. He changed the subject and said, "Academician Bai, I'm working on the design of a new robotic arm. I want to configure a moving system for the robotic arm, and then add A telescopic arm expands the operating range of the robotic arm, can you help me look at the design and give me some pointers?"

Academician Bai did not refuse, and asked Guo Yuan to bring over the design drawings.

After looking at Guo Yuan's design, Academician Bai sighed: "You are really awesome! Your efficiency is much better than that of an old man like me."

Guo Yuan smiled awkwardly when he heard the words, this is 01's masterpiece, how can he be so powerful himself.

After carefully reading the design drawing of 01, Academician Bai already had some calculations in his mind.

In the opinion of Academician Bai, Guo Yuan's crawler design and feet are very common mechanical structures. The most common design in life is the design of cranes. It is simple and effective, but he believes that there should be better alternatives.

After looking at the design of the telescopic arm, he has reservations. The telescopic arm is equivalent to extending the space expansion limit of the mechanical arm. However, how this design can ensure the stability of the body during work is open to question.

After sorting out the language, Academician Bai said: "The crawler design is pretty good, it can meet various terrain scenarios, and the added foot design is also necessary, but have you ever considered designing the mobile system as a deformable structure, such as Divide the track into four parts, and you can imagine four miniature tanks spliced ​​together."

When Bai Jingwen described his ideas, Guo Yuan also imagined the design he was talking about in his mind.

After a little thought, he understood the design that Bai Jingwen was talking about. At this moment, he raised his eyebrows, yes, if it was such a design, the legs would not be needed at all.

Normally, the four parts of the tracks can be spliced ​​together compactly, and cooperate to drive the movement of the robotic arm. When encountering some complex terrain, the four parts of the tracks can also be dispersed, which is conducive to travel, and as long as the dispersion range is large enough, this is not easy Did it function as a foothold?

"Academician Bai, your idea is really wonderful!"

Bai Jingwen smiled, thinking that he had finally regained some face, he continued: "The design of your telescopic arm is good, but how to ensure the stability? It cannot be said that your mechanical arm is made with high precision, but in the end it is because of the telescopic arm. The arm caused the accuracy to decrease, right?"

Faced with Bai Jingwen's question, Guo Yuan did not answer but directly raised his own question.

Because he is not sure whether the design of 01 has such a defect.

"Then Academician Bai, how do you think I should design this part?"

After thinking about it, Bai Jingwen said: "There is no problem with your original design intention, but when the telescopic arm is extended, it is easy to shake when the mechanical arm moves.

To solve this problem, it is generally necessary to increase the bottom weight, but this deviates from your design, so I suggest that you remove the design of the telescopic arm, and consider increasing the size of the mechanical arm, which can also solve your problem. "

Increase the size of the robot arm?This might as well be a solution.

"Understood, thank you for your help."

Academician Bai nodded with a smile. Looking at Guo Yuan, a young man full of creativity, Academician Bai felt that he was getting old.

He has always refused to accept his old age, but compared to a young man like Guo Yuan, he can't accept it!

"It's true that the waves behind the Yangtze River push the waves ahead." Bai Jingwen thought in his heart.

After Guo Yuan got what he wanted to know, he left Bai Jingwen's laboratory with Cheng Shuqing.

Along the way, Cheng Shuqing was looking at the iron lump in her arms. She also saw the excellent performance of the mechanical arm just now.

(End of this chapter)