Tengcheng is going to hold a transport robot competition. Li Rong took the competition guide back to read. This is a transportation robot design competition. Each time a team places the robot they designed at the starting point of the field and carries the goods to the designated location. The team with the shortest time wins.
There is a wall in the middle of the site, and there are other goods at different heights. When transporting, you must increase your movement speed and not touch other things. Not only must you choose a walking route, but you must also choose how to place the goods, whether horizontally or vertically. When encountering a barrier, some objects must be tilted, some must be placed horizontally, and some have no turning space and require the robot to move sideways.
The individual parts of the robot can be designed and assembled by yourself. Such as cameras, pressure sensors, robotic arms, and wheels. The total volume cannot be too large, otherwise there will be no way to pass through the narrow passages in the site.
Li Rong started looking for teammates.
"Peng Jian, do you want to participate in this transport robot competition?"
"I entered another competition. Appliance assembly."
"Qin Xun, are you interested?"
"Okay, I have some interest. If you need anything, come to me."
Xin'an said: "Hey, I'm more interested in this."
"Didn't you participate in the robot football game?"
"No delay, no delay."
Li Rong became the temporary team leader and said to the team members: "Let me divide the work. Qin Xun is responsible for purchasing and remember to issue invoices; Zhong Qideng is responsible for the design of the mechanical part; Wei Xing is responsible for the design of the circuit part; Xiao Jiong is responsible for welding electronic devices; Xin An and I are responsible for programming and algorithms."
"Okay, this way the division of labor is clear and everyone can use their strengths."
Li Rong: “The organizer will give you the instruction manual for the core controller.”
"First go back and draw mechanical diagrams, circuit diagrams, and programming on your own computers. We will discuss it next week after the basic ideas are figured out."
"OK."
Li Rong found a laboratory, set up several tables, and moved in two desktop computers. Qin Xun bought a toolbox, a soldering iron, and a multimeter.
Zhong Qideng came in with a notebook and drew a bunch of mechanical diagrams, including an overall front view, a side view, and a top view.
Wei Xing talked about drawing the circuit diagram. He was confused when looking at the controller A111, and he didn’t draw the peripheral circuits. Xiao Jiong expressed his helplessness. He couldn't solder the circuit diagram without drawing it.
Li Rong talked about the current programming progress, starting with learning the A111 controller programming language. Learn object detection programs and motor control programs. Xinan said that he is still working on the robot football program.
Wei Xing said: "Okay, we finally have a place to stay. We will come here often in the future. Discuss and discuss."
Zhong Qideng said: "What does the porter robot look like? This is how I think about it. There are mechanical arms on both sides, and there is a platform in front to place items. The mechanical arms lift the items and place them on the loading platform. "
Li Rong said: "Okay, this is generally the idea."
Zhong Qideng said: "You can also put the stage behind the robot."
Li Rong said: "That would be more troublesome, let's do this simple thing first."
Wei Xing said: "I want to detect the signal circuit. The motor control circuit is not difficult. I think the most difficult thing is to install the motor and the robotic arm and be able to carry them. So can a bunch of parts move flexibly when put on them? Is it possible? Will it get stuck?"
Li Rong said: "The control of the robotic arm is also very troublesome. Parallel movement must be achieved, and all joints move at the same time to reduce time."
Wei Xing said: "How many motors do you want?"
Zhong Xedeng said: "There are at least two robotic arms on each side. Two motors are needed to control the wheels. One controls the two wheels on the left, and the other controls the two wheels on the right."
Wei Xing said: "Oh, I originally thought the wheels needed four motors. Now there are a total of 6 motors."
Li Rong said: "How does the controller see it?"
Wei Xing said: "It's more difficult. You have to look at it and indicate which pin is used when programming."
Zhong Qideng said: "I will send the drawings to the factory as soon as possible. Once the frame is ready, you can install the motor and try it."
Zhong Qideng was still studying the mechanical drawings, but Li Rong couldn't wait any longer and said, "Hurry up and hand the drawings to the factory. Later, we need to do experiments and improvements on the electrical control. If we don't complete the mechanical part, I'm afraid it will be too late."
Zhong Qideng said: "It seems that there is nothing wrong with this mechanical diagram. I will give it to the factory tomorrow."
The factory processed it for a few days and sent the parts over.
Zhong Qideng spent an afternoon assembling it, and it was roughly installed, but some parts couldn't be pressed in place. Li Rong is here, it would be better to take a look at the overall structure.
“It looks like the overall framework is in place.”
Zhong Qideng said: "The chassis is ready and can be used as a smart car. The robotic arm is not ready yet."
Li Rong said: "This part is indeed more difficult. You have to consider how many motors to use, the weight of the arm, and whether it can pick up and lift things."
The days passed.
Zhong Qideng was still struggling with the mechanical structure. Li Rong couldn't wait any longer and said, "Wei Xing, we have to do the circuit part first. Assume there are 6 motors in total, choose the one with the largest torque." Don't wait, do it at the same time. Adjust if necessary.
Wei Xing and Xiao Jiong learned the structure of the A111 controller and designed the circuit, and Qin Xun purchased the motor as required. Li Rong started programming after learning the programming language, and he didn't wait for Xin saddle.
Preparations are in full swing. The competition is approaching day by day.
With six days left before the competition, Wei Xing said: "The circuit is done, the software is programmed, and the mechanical part is also done."
Zhong Qideng installed the components, Wei Xing put in the circuit, and Lirong burned in the program. But there was no movement. The power light on the circuit is on.
Li Rong said: "We should do it step by step."
Wei Xing said, "What do you mean?"
Li Rong said: "You should first make a program to realize the movement of the car, and then make a program to realize the swing of the robotic arm. You cannot use the entire program directly. I will cut out the basic programs and try them one by one."
The race is five days away. The cart can be moved.
The race is four days away. The upper arm joint of the robotic arm can move. The forearm joint of the robotic arm can move.
The competition is three days away. The camera is ready for use.
There are still three days of competition and the players are very tired. Wei Xing said: "I can't wait to stay in the laboratory all the time. I've been forgetting to eat and sleep these days."
Xiao Jiong said: "I have never experienced such a life of doing experiments."
Li Rong said: "Everyone, please pay attention to your health. You can't fight fatigue like this all the time."
Wei Xing said: "You should take a good rest after the game."
Xiao Jiong said: "I don't know how the competition will go yet. I don't know how to play soy sauce."
Li Rong said: "As long as this thing can move, I will be very happy. I will continue to compete next year."
Zhong Qideng said: "I am very happy to study, research, discuss, produce, and analyze experiences and lessons with you. I care about this process."
Wei Xing said: "At least I learned a lot."
The competition is two days away. There was a burst of cheers in the laboratory. Haha, I can finally move. I can complete simple carrying tasks, including identifying and placing a cardboard box in a designated location.
Wei Xing said: "I hope we can perform normally."
Li Rong said: "Okay, let's sort out the information. Bring the information and laptop to the competition and find a car to transport the robot."
I've been so tired these past few days, I've been sleeping late, and I've been feeling groggy in the morning. The team members got in the car and drove to the Science and Technology Museum. Li Rong said: "No matter what the result is, don't be depressed or angry."
"Okay, it's up to people to plan things, and it's up to God to make things happen."
Arriving at the Science and Technology Museum, several people moved things to the competition venue. There were many volunteers wearing blue T-shirts to greet them and guide them to the designated location. Then Qin Xun looked at the machine. Others go and sign up. Li Rong found his team's name on the list, signed in, and received his participation certificate.
Everyone entered the competition venue. The ceiling lights were soft, the venue was wide, and three handling scenes were arranged. Surrounded by auditoriums, only a small part of the back row is empty.
The first level is movement. The robot moves to four rooms and then returns to its original location. Failure to complete three times will result in expulsion from the competition.
Li Rong and others placed the robot at the designated starting position. This one went relatively smoothly, with the robot moving to four rooms and then back to its original location, albeit a bit slower.
The second level is simple transportation. The robot carries three red, yellow and blue objects to the designated location.
The robot moves to the red object and lifts it up. OK, the robotic arm can be used. Put it in position one. Then go and lift the second blue object.
At this time, there was a problem with the participating team in the middle field. The robot was too high, the platform was too high, and something hit the upper door frame. A lot of points were deducted.
Lirong's group of robots successfully completed the mission.
The robot went to lift the yellow object. Then there was a bang and the thing broke. Ah, the yellow object was filled with glass. The force was too great! What to do?
Wei Xing shouted: "Who knew there was glass inside?"
Li Rong told him to calm down. It was just a deduction of points and it was not over yet. This won't happen if a pressure sensor is added.
The third level is complex transportation.
Everyone looked at the scene layout. First, move the red object out of the room and put it aside. Move the blue object out and put it aside. Move the yellow object to the designated location, then put the blue object, and then put the red object. This is similar to a game of Sokoban.
The Lirong group robot moves slowly. Just calculate as you go and finally complete the task.
The other two groups did not do well. One group of robots got stuck in the room, and one group was moved incorrectly and placed in the wrong location.
There was an hour's rest in the middle, and several people were nervously waiting for the results. Finally, the judges announced that the Lirong group had advanced to participate in the finals.
Very good! Several people hugged each other and cheered happily when they saw colleagues from the company coming. Finally, I successfully took the first step and can continue the rest of the game.
Li Rong thought of Xin and immediately called her. There had been no contact for more than a month. "Xin, I haven't contacted you for a long time. I was doing a transport robot competition during this time."
"Really? You are really busy. You haven't contacted me for two months."
"It didn't take that long. I feel like it's only been a month. It seems like less than a month. During this time, I just coded. It goes by so fast."
“Does it mean that you live faster when you’re coding, but slower when you’re with me?”
"This...that's not what I meant. Xin..."
