Siheyuan: Starting from a fitter

Chapter 299 Four-axis UAV

Li Guocheng re-copied the robot's algorithm on Kunpeng server number 1 and used it to manage four servers, naming it Xiaosan.

The names given to engineering students are so casual and down-to-earth.

Through the computer in the laboratory, connect to the Kunpeng server and load Xiaoer's source code and data onto another robot controller again.Of course, this new robot is Xiaoer.

In order to distinguish them, each robot has a number on its chest. The first one is 001 and the second one is 002.

Close to Xiao Yi, he once again divided a space and gave the same order as Xiao Yi.Let them accumulate data on their own.

In order to make it easier for the robot to hide itself, Li Guocheng specially designed two large storage boxes and placed them under the experimental table. When the robot issues instructions, it can automatically open and close the side doors of the storage boxes.

There is a quick storage plug and data interface inside each one. When the robot enters the storage box before the battery is exhausted, a plug will protrude from the palm of one of the tentacles and be inserted into the quick storage interface to store power and rest at the same time.

The plug protruding from the palm of the other tentacle connects to the data interface, which can exchange data with the Kunpeng server, upload historical data, and use the computing power of the four servers for analysis and simulation.

After dealing with the robot, Li Guocheng thought of a very good thing, that is the drone.

After modeling analysis, he chose the easiest-to-control 4-axis flying drone.

The four motors of the drone are based on the motor structure of the robot, and he has redesigned a 4V brushless DC motor with low power and small size. It has slight noise and is very suitable for drone use.

The material of the double-blade propeller was selected from the database with a plastic formula with higher toughness. Since it was not in stock, I was too lazy to wait and prepared it directly in the laboratory.

With enough special plastic, he sculpted it by hand according to the model in his mind.

There was a burst of plastic debris flying, and in less than 2 hours, a lightweight 4-axis drone frame was carved.

After 1 month, all the accessories are ready, including the microcontroller board.

Li Guocheng watched Xiaoyi and Xiaoer move and jump within a 2-meter radius while assembling the drone.

At this time, the cables on their backs have been removed and they are completely powered by batteries.When fully charged, it can work continuously for 2 hours.

According to simulations, if they sprint with all their strength, the short-term speed can reach 20 kilometers per hour, but the endurance time is less than one hour.

Of course, this sprint mode has not had the opportunity to experiment, and now the focus is on learning smooth movements.

As expected of artificial intelligence, they can now perform some difficult actions such as jumping and flipping without falling.Others, such as parallel movement, are already very smooth.

Next they need to find a venue for them to practice sprinting and jumping. This is the problem they need to face.The requirements for motion curves will also be more stringent.

At that time, the motion curve will need to be divided more carefully, and each small segment will also need more complex control.

There are 3 motors in each leg, and the synchronization and coordination of 6 motors in 18 legs will be a very big challenge.

The idea is to complicate first, then optimize.Finally, fuzzy neural network algorithm is used for fuzzy processing to reduce the load of computing power and memory.

And these, whether it is mind power or simulation algorithms, are difficult to deal with such long-term and long-distance complex data.

It seems that some robot bodies need to be prepared. When the time comes to perform complex movements, wear and tear will be inevitable.

Thinking of this, Li Guocheng looked at the accessories in his hand, smiled to himself, and lamented why he was always distracted recently.

The only explanation is that the old habit has returned. He worries too much and is prone to impatience. He secretly warned himself in his heart.

After completing the design of the helicopter, I will give myself a vacation and go abroad to relax.

"Hey, why have my thoughts wandered away again?" He quickly returned his attention to the accessories in his hand.

Very quickly, with a burst of lightning and five consecutive installations, a compact 4-axis drone was assembled.

In order to reduce the control difficulty and improve the self-control capability of the drone, Li Guocheng not only made adaptive adjustments to the flight control program, but also specially developed a miniature semiconductor gyroscope.

The highlight of this gyroscope is its miniature size. The design principle simulates the principle of a mechanical gyroscope. Placing a mass sensor on a piezoelectric ceramic and adding a piezoelectric acquisition circuit is a very clever design.

From the appearance, it can only be seen that this is an SO-8 standard package device.

X, Y, and Z axis data are transmitted through the serial port.

In order to lead the technology, he is not planning to apply for a patent for this miniature gyroscope.

In the previous month, he was mainly manufacturing this kind of miniature gyroscope, because the installation accuracy was too high, even he had to confirm and test repeatedly before completing the package.

If mass production is to be achieved in the future, a dedicated precision measurement and assembly platform will be necessary.

Hey, so basic industry is the foundation of technological innovation. Without this platform, no matter how excellent the design is, it will be a castle in the air.

With this foundation, it is like having fertile land that can produce all kinds of farmers, fruits and flowers.Without it, it’s a technological desert.

Li Guocheng rubbed his temples, feeling that there are too many things to do next, and this platform is not the most urgent thing, there are more things to worry about.

The drone has been fully assembled and all static tests have been completed. The next step is to officially take off.

Li Guocheng did not try to be brave, he handed over the control of the remote control to Xiaoyi.

The command is given to take off slowly, and according to the flight attitude, record data for adjusting control parameters and 4-axis synchronization logic.

As expected, it only flew 10 centimeters above the ground before falling to one side.

Xiao Yi stopped flying, connected to the drone's flight control chip, read the flight data, calculated it together, and came up with an adjustment plan. After receiving Li Guocheng's confirmation, he modified the flight control parameters.

Then it took off again. After repeating this operation hundreds of times, it finally met Li Guocheng's requirements. When Xiaoyi gave the takeoff command, the drone could automatically control and fly smoothly to a height of 1 meter, waiting for the next command.

In the process of adjusting parameters, after repeating it three times, Li Guocheng authorized Xiaoyi with the adjustment confirmation command and let him complete the testing and adjustment by himself.

This is the power of artificial intelligence robots. After hundreds of repetitions, it is so rigorous and accurate every time.

The next step of controlling the flight is relatively simple. With the balance control algorithm before takeoff, the attitude control during flight is the younger brother.

The flight control has two modes: self-control mode and race mode.

In the automatic control mode, the remote controller gives instructions, and the flight control algorithm needs to optimize the control to ensure absolute safety of flight.

In competition mode, the remote controller gives instructions and the flight control algorithm is directly executed, only ensuring that the flight is not unbalanced.

The remote control uses short-wave communication. Theoretically, the maximum control distance is up to 12 kilometers. If it exceeds the control range, it can automatically return according to the memorized route.

The reason why it is so complicated is because it was intended for military use from the very beginning.

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(End of this chapter)