CN102699917A - Magic cube-solving robot based on intelligent mobile phone - Google Patents
Magic cube-solving robot based on intelligent mobile phone Download PDFInfo
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- CN102699917A CN102699917A CN2012101895128A CN201210189512A CN102699917A CN 102699917 A CN102699917 A CN 102699917A CN 2012101895128 A CN2012101895128 A CN 2012101895128A CN 201210189512 A CN201210189512 A CN 201210189512A CN 102699917 A CN102699917 A CN 102699917A
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Abstract
The invention provides a magic cube-solving robot based on an intelligent mobile phone and relates to the field of robot devices. Magic cube color information is acquired through an upper computer unit, return logic calculation on the magic cube with disordered sequence is finished, a solving method is sent to a control unit on the robot through Bluetooth communication to control in real time, and an executing unit returns the three-step magic cube. An executing unit of the magic cube-solving robot adopts a driving mechanism which solves the problem that a wire is wound when a mechanical claw rotates to solve the problem that the wire is wound at a claw steering engine when a mechanical arm rotates. The magic cube-solving robot adopts a light-complementing auxiliary device to solve the problem of inaccurate image identification of a camera, which is caused by environment light.
Description
Technical field
The invention discloses a kind of based on smart mobile phone separate the magic square robot, relate to the robot device.
Background technology
The research of robotics has promoted the development of many artificial intelligence thoughts, has some technology can in the artificial intelligence study, be used for setting up the model and the process of describing the world state variation of world state.Separate the magic square robot with robot as carrier, the using artificial intellectual technology solves three rank magic squares reduction problems.
The patent No. is that the patent of ZL201020628689.X discloses a kind of robot; It utilizes two angles of rotary cylinder control is 90 ° mechanical arm, utilizes folder to hold two tongs of cylinder control, and cylinder is connected to electromagnetic gas valve through tracheae; Electromagnetic gas valve is connected to air pump; Two tongs are used for the clamping magic square, and camera will be connected to computer, the computer control electromagnetic gas valve.
It is perfect that this scheme exists the following aspects to still need:
1, element power consumptions such as cylinder, electromagnetic gas valve, air pump are too many, and capacity usage ratio is low.
2, do not mention the tracheae that is used to connect tong and rotate the winding problem that how to solve at mechanical arm.
3, because camera image that surround lighting caused identification inaccurate.
4, computer is not portable, and volume is big, is unfavorable under varying environment, working.
Summary of the invention
The invention provides and a kind ofly separate the magic square robot based on smart mobile phone; It gathers the magic square colouring information through the host computer unit; Accomplish out of order magic square reduction logical operation; And solution is sent in the robot control module through Bluetooth communication control in real time, accomplish reduction by performance element to three rank magic squares.The performance element of separating the magic square robot adopts a kind of transmission mechanism that solves gripper rotation coiling to solve because the claw steering wheel coiling problem that mechanical arm is produced when rotating.Separating the magic square robot adopts the light filling servicing unit to solve because the camera image that surround lighting caused is discerned inaccurate problem.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of based on smart mobile phone separate the magic square robot, it is characterized in that, comprising:
The host computer unit: be mainly smart mobile phone, it is equipped with android application program and smart mobile phone camera, smart mobile phone bluetooth equipment; Control module: comprise slave computer processor, bluetooth module; Performance element: be mainly drive circuit, motor, steering wheel; Power subsystem: be mainly lithium battery, voltage-stabilized power supply.
The host computer unit carries out discriminance analysis to the magic square state, and the reduction step that calculates is sent to control module through the smart mobile phone bluetooth equipment.Control module receives the reduction step that the host computer unit sends through bluetooth module, according to reduction step control performance element.Performance element is accomplished mechanical arm, gripper control reduction magic square through the cooperation of motor, steering wheel.Power subsystem is host computer unit, control module and performance element power supply.
One separates three rank magic square robot architectures, is made up of magic square, gripper, steering wheel, gripper support, rotating disk, pivoted arm, shaft seating, synchronous pulley, synchronous band, conducting slip ring bearing, conducting slip ring, control circuit, gripper shoe, base plate, fixed head, little stepper motor, light filling support, LED, smart mobile phone.
Magic square is placed on the gripper, two mutual vertical fixing of gripper.Gripper is fixed on the rotating disk through support chip, and the upper end of rotating disk and pivoted arm is fixed, and pivoted arm passes bearing spider, and the lower end links to each other with big synchronous pulley, connects small synchronous pulley on the little step motor shaft, is connected with big synchronous pulley through synchronous band.Conducting slip ring links to each other with the conducting slip ring bearing, and the conducting slip ring bearing is fixed on the gripper shoe, and the installation site is concentric with rotating shaft.Gripper shoe and light filling support are fixed on the base plate.
One solves the drive mechanism of gripper rotation coiling, is become by rotating disk, pivoted arm, bearing spider, gripper shoe, big synchronous pulley, synchronous band, conducting slip ring bearing, conducting slip ring, base plate, small synchronous pulley, fixed head, little stepper motor.
The upper end of rotating disk and pivoted arm is fixed; Pivoted arm passes bearing spider and fixes with conducting slip ring behind the synchronous pulley greatly; Small step is advanced machine shaft and is linked to each other with small synchronous pulley; Small synchronous pulley is connected with big synchronous pulley through synchronous band, and conducting slip ring is fixed on the gripper shoe through the conducting slip ring bearing, and gripper shoe is fixed on the base plate.
Steering wheel lead-in wire passes pivoted arm inside and links to each other with conducting slip ring on the gripper; Small step is advanced machine shaft and under drive circuit control, is rotated 270 ° or 540 °; Rotate 90 ° or 180 ° through synchronous band transmission pivoted arm; Gripper is fixed with pivoted arm, and steering wheel rotates 90 ° or 180 ° on the gripper, thereby solves because mechanical arm rotates steering wheel lead-in wire winding problem on the gripper that causes.
One light filling servicing unit is made up of light filling support and LED.
LED is fixed on light filling support front end, constitutes the light filling servicing unit.
Said gripper is made up of connecting rod, gear, aluminum L type structure.Wherein contact face length with magic square be 20mm to aluminum L type structure, and wide is 15mm, and height is 18mm.
Said gripper fixed form is:
The mutual vertical fixing of two grippers, centre-to-centre spacing 90mm, each gripper are added by two aluminum L type structures and hold the non-intermediate layer of magic square intermediate mass, and magic square is fixed on two grippers.
Said pivoted arm inside is hollow, and the steering wheel lead-in wire can pass from pivoted arm inside with below conducting slip ring upper end lead-in wire and be connected.
Said light filling support is an aluminum loop configuration, and ring surface is parallel with magic square face to be identified, and is 150mm apart from the magic square surface distance.
The present invention compares with the existing magic square robot that separates, can go following beneficial effect:
The present invention adopts motor and steering wheel as executing agency, and raw material is easy to obtain, and is convenient simple in the control, energy-conserving and environment-protective.
Adopt one to solve the kind of drive of gripper rotation coiling on the structure, fundamentally solved because mechanical arm rotates steering wheel lead-in wire winding problem on the gripper that causes.And through belt wheel and the apolegamy of band synchronously, can change the motor speed reducing ratio, thereby make the mechanical arm rotation obtain bigger moment.
Adopt the light filling servicing unit to solve well that ubiquity relies on high defective to ambient lighting in the color identification on the structure.Through light filling assistant images method of identification ambient light effects is dropped to minimumly, make magic square surface color space, reduce ambient light to greatest extent according to the interference of camera the magic square color samples near preset value.
Magic square reducing program in the smart mobile phone magic square restoring system replacement computer.Can substitute traditional high-speed computer function based on the increase income host computer procedure of technological android platform development of present hot topic fully through the smart mobile phone arithmetic element.The Bluetooth wireless transmission technology can be expanded and separate magic square robot space transmission signal capabilities.Smart mobile phone magic square restoring system reduces to understand magic square robot volume greatly, is convenient to transportation, is easy in daily life the robot manipulation, and scientific and technological level is higher.
Description of drawings
Fig. 1, a kind of magic square robot system block diagram of separating
Fig. 2, a kind of magic square robot system flow chart of separating
Fig. 3, smart mobile phone magic square restoring system block diagram
Fig. 4, a kind of magic square robot architecture sketch map of separating
Fig. 5, a kind of transmission mechanism sketch map that solves gripper rotation coiling
Fig. 6, light filling servicing unit sketch map
Among the figure: the 1-magic square; 2-aluminum L type structure; The 3-connecting rod; The 4-steering wheel; 5-gripper bearing; The 6-rotating disk; The 7-pivoted arm; The 8-shaft seating; The big synchronous pulley of 9-; 10-is with synchronously; 11-conducting slip ring bearing; The 12-conducting slip ring; The 13-control circuit; The 14-gripper shoe; The 15-base plate; The 16-fixed head; The little stepper motor of 17-; 18-light filling support; 19-LED; The 20-smart mobile phone; The 21-small synchronous pulley
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done a progressive explanation.
The built-in android operating system of smart mobile phone that this instance adopts; Support camera; Support bluetooth.
It is as shown in Figure 1 to separate the magic square robot
Of the present invention a kind of based on smart mobile phone separate the magic square robot, comprise the host computer unit: be mainly smart mobile phone, comprise android application program, smart mobile phone camera, smart mobile phone bluetooth equipment; Control module: comprise slave computer processor freescale series monolithic, bluetooth module; Performance element: be mainly LM298 drive circuit, little stepper motor, MG995 steering wheel; Power subsystem: be mainly 6V lithium battery, 12V voltage-stabilized power supply.
The host computer unit carries out discriminance analysis to the magic square state, and the reduction step that calculates is sent to control module through wireless blue tooth.Control module receives the reduction step that the host computer unit sends through wireless blue tooth, according to reduction step control performance element.Performance element is accomplished mechanical arm, gripper control reduction magic square through the cooperation of motor, steering wheel.Power subsystem is host computer unit, control module and performance element power supply.
Separate magic square robot system flow implementation example: as shown in Figure 2
Smart mobile phone camera and bluetooth are opened in start working on the smart mobile phone of back android application program control of system.Bluetooth discovery is separated magic square robot slave computer bluetooth on the smart mobile phone, shakes hands, matches up to searching again, up to shaking hands, connecting after the successful matching.By the smart mobile phone camera each face look is gathered, the android application program is carried out color identification and storage.Discern the host computer processor that finishes and carry out the logical operation of magic square reduction step, obtain separating magic square robot reduction magic square step.Adopt the magic square reduction step by bluetooth transmission on the smart mobile phone, slave computer bluetooth receiving step, slave computer control both arms are carried out solution, and slave computer request host computer sends next step solution.The host computer processor judges whether to be final step that if not then send next step solution, if then close camera and bluetooth, system works finishes.
Smart mobile phone magic square restoring system embodiment: as shown in Figure 3
Smart mobile phone magic square restoring system comprises the magic square program of separating of smart mobile phone camera, smart mobile phone bluetooth and android platform.
Separate the magic square program and give processor with the smart mobile phone camera collection to confidence and carry out image recognition, the identification preprocessor that finishes reduces computing, separates the magic square program and through the smart mobile phone bluetooth magic square reduction step is carried out radio communication again.
Separate magic square robot architecture embodiment: as shown in Figure 4,
Structure explanation among the figure: magic square 1 is placed on the gripper of being made up of aluminum L type structure 2, connecting rod 3 and steering wheel 3, and two mutual vertical fixing of gripper are 45 ° of angles with horizontal plane.Gripper is fixed on the rotating disk 6 through gripper bearing 5; The upper end of rotating disk 6 and pivoted arm 7 is fixed; Pivoted arm 7 passes bearing spider 8 lower ends and links to each other with big synchronous pulley 9, and 17 of little stepper motors are gone up and connected small synchronous pulleys 21, is connected with synchronous pulley 9 greatly through being with 10 synchronously.Conducting slip ring 12 links to each other with conducting slip ring bearing 11, and the conducting slip ring bearing is fixed on the gripper shoe 14, and the installation site is concentric with rotating shaft.Gripper shoe 14 is fixed on the base plate 15 with light filling support 18;
One solves the drive-train means embodiment of gripper rotation coiling: as shown in Figure 5,
The upper end of rotating disk 6 and rotating shaft 7 is fixed, and rotating shaft 7 is passed bearing spider 8 lower ends and is linked to each other with big synchronous pulley 9, and 17 of little stepper motors are gone up connection small synchronous pulley 21, is connected with synchronous pulley 9 greatly through being with 10 synchronously.Conducting slip ring 12 links to each other with conducting slip ring bearing 11, and the conducting slip ring bearing is fixed on the gripper shoe 14, and the installation site is concentric with rotating shaft.
One light filling servicing unit embodiment: as shown in Figure 6,
4 LED are separately fixed at the handset mounting front end, constitute the light filling servicing unit.
When the present invention worked, detailed process was following:
The processing stage of image: at first to carrying out picture capturing over against the magic square face, the android application program calculates magic square face look information based on the smart mobile phone arithmetic element to the smart mobile phone camera, and stores.Make camera gather six face looks of out of order magic square information successively through rotation of left and right arms motor and the control of left and right sides pawl steering wheel.
The logical operation stage: the magic square information of storage is calculated based on the smart mobile phone arithmetic element through the android application program, obtained the magic square reduction step.
Stage of communication: open bluetooth equipment through android application program control smart mobile phone, send the magic square reduction step and give the slave computer processor.Slave computer processor bluetooth equipment receives.
Reduction phase: the slave computer processor is controlled left and right sides tumbler motor and left and right sides pawl steering wheel through the magic square reduction step that bluetooth receives, thereby accomplishes the reduction to out of order three rank magic squares.
Claims (7)
1. separate the magic square robot based on smart mobile phone for one kind; It is characterized in that: it gathers the magic square colouring information through the host computer unit; Accomplish out of order magic square reduction logical operation; And solution is sent in the robot control module through Bluetooth communication control in real time, accomplish reduction by performance element to three rank magic squares.The performance element of separating the magic square robot adopts a kind of transmission mechanism that solves gripper rotation coiling to solve because the claw steering wheel coiling problem that mechanical arm is produced when rotating; Performance element adopts the light filling servicing unit to solve because the camera image that surround lighting caused is discerned inaccurate problem.
2. according to claim 1 a kind of based on smart mobile phone separate the magic square robot, it is characterized in that:
Described host computer unit: be mainly smart mobile phone, it is equipped with android application program and smart mobile phone camera, smart mobile phone bluetooth equipment; Described control module: comprise slave computer processor, bluetooth module; Described performance element: be mainly drive circuit, motor, steering wheel; It also includes power subsystem: be mainly lithium battery, voltage-stabilized power supply;
The host computer unit carries out discriminance analysis to the magic square state, and the reduction step that calculates is sent to control module through the smart mobile phone bluetooth equipment.Control module receives the reduction step that the host computer unit sends through bluetooth module, according to reduction step control performance element.Performance element is accomplished mechanical arm, gripper control reduction magic square through the cooperation of motor, steering wheel.Power subsystem is host computer unit, control module and performance element power supply.
3. according to claim 1 a kind of based on smart mobile phone separate the magic square robot, it is characterized in that: described performance element comprises magic square, gripper, steering wheel, gripper support, rotating disk, pivoted arm, shaft seating, synchronous pulley, band, conducting slip ring bearing, conducting slip ring, control circuit, gripper shoe, base plate, fixed head, little stepper motor, light filling support, LED, smart mobile phone synchronously;
Magic square is placed on the gripper, two mutual vertical fixing of gripper; Gripper is fixed on the rotating disk through support chip, and the upper end of rotating disk and pivoted arm is fixed, and pivoted arm passes bearing spider, and the lower end links to each other with big synchronous pulley, connects small synchronous pulley on the little step motor shaft, is connected with big synchronous pulley through synchronous band.Conducting slip ring links to each other with the conducting slip ring bearing, and the conducting slip ring bearing is fixed on the gripper shoe, and the installation site is concentric with rotating shaft.Gripper shoe and light filling support are fixed on the base plate;
Described smooth servicing unit is made up of light filling support (4) and LED; LED is fixed on light filling support front end, constitutes the light filling servicing unit.
4. according to claim 1 a kind of based on smart mobile phone separate the magic square robot, it is characterized in that: said gripper is made up of connecting rod, gear, aluminum L type structure.Wherein contact face length with magic square be 20mm to aluminum L type structure, and wide is 15mm, and height is 18mm.
5. according to claim 4 a kind of based on smart mobile phone separate the magic square robot, it is characterized in that: said gripper fixed form is:
The mutual vertical fixing of two grippers, centre-to-centre spacing 90mm, each gripper adds the intermediate mass of holding the non-intermediate layer of magic square by two aluminum L type structures, and magic square is fixed on two grippers.
6. according to claim 3 a kind of based on smart mobile phone separate the magic square robot, it is characterized in that: said pivoted arm is inner for hollow, the steering wheel lead-in wire can pass from pivoted arm inside with below conducting slip ring upper end lead-in wire and be connected.
7. according to claim 3 a kind of based on smart mobile phone separate the magic square robot, it is characterized in that: said light filling support is an aluminum loop configuration, and ring surface is parallel with magic square face to be identified, and is 150mm apart from the magic square surface distance.
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| CN102962844A (en) * | 2012-11-09 | 2013-03-13 | 沈阳工业大学 | Control system for mechanically-controlled shadow puppet show device |
| CN103192390A (en) * | 2013-04-15 | 2013-07-10 | 青岛海艺自动化技术有限公司 | Control system of humanoid robot |
| CN103240747A (en) * | 2013-04-18 | 2013-08-14 | 塔米智能科技（北京）有限公司 | Intelligent magic cube solving robot and man-machine interaction system comprising same |
| CN103350419A (en) * | 2013-06-25 | 2013-10-16 | 塔米智能科技（北京）有限公司 | Intelligent magic cube solving robot capable of autonomously grabbing magic cube, as well as magic cube solving method of intelligent magic cube solving robot |
| CN103831829A (en) * | 2014-03-24 | 2014-06-04 | 常州工学院 | Driving device of magic cube solving robot |
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| CN104552308A (en) * | 2015-01-12 | 2015-04-29 | 北京工业大学 | Magic-cube-solving robot with symmetrical structures in four surfaces |
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| CN104959991A (en) * | 2015-07-13 | 2015-10-07 | 南京财经大学 | Education robot for competitions and using method thereof |
| CN105171749A (en) * | 2015-07-13 | 2015-12-23 | 上海交通大学 | Execution module, Rubik's cube reduction robot and using method for robot |
| CN106903696A (en) * | 2017-03-20 | 2017-06-30 | 河南师范大学 | A kind of four axisymmetric magic cube-solving robots |
| CN107154058A (en) * | 2017-05-08 | 2017-09-12 | 上海葡萄纬度科技有限公司 | A kind of method for guiding user to reduce magic square |
| CN107895512A (en) * | 2017-11-16 | 2018-04-10 | 谢宗奕 | A kind of three rank magic square automatic identifications and voice study course system |
| CN108544510A (en) * | 2018-06-15 | 2018-09-18 | 天津大学 | A kind of automatic recovery magic square robot mechanical arm |
| CN108748151A (en) * | 2018-06-05 | 2018-11-06 | 安徽合动智能科技有限公司 | A kind of finger of both arms two structure magic cube-solving robot |
| CN109176558A (en) * | 2018-10-23 | 2019-01-11 | 西华大学 | A kind of magic square reduction apparatus and magic square robot |
| CN110815248A (en) * | 2019-10-07 | 2020-02-21 | 华南理工大学 | Magic cube solving robot and magic cube teaching system and method |
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| CN102962844B (en) * | 2012-11-09 | 2017-08-25 | 沈阳工业大学 | A kind of shadow puppet performance apparatus control system by being mechanically operated by |
| CN102962844A (en) * | 2012-11-09 | 2013-03-13 | 沈阳工业大学 | Control system for mechanically-controlled shadow puppet show device |
| CN103192390A (en) * | 2013-04-15 | 2013-07-10 | 青岛海艺自动化技术有限公司 | Control system of humanoid robot |
| CN103192390B (en) * | 2013-04-15 | 2015-12-02 | 青岛海艺自动化技术有限公司 | Control system of humanoid robot |
| CN103240747B (en) * | 2013-04-18 | 2016-07-06 | 塔米智能科技（北京）有限公司 | A kind of intelligence solves magic square robot and employs the human-computer interaction system of this robot |
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| CN104369189A (en) * | 2013-08-15 | 2015-02-25 | 郑西涛 | Industrial robot state visualization system |
| CN103831829A (en) * | 2014-03-24 | 2014-06-04 | 常州工学院 | Driving device of magic cube solving robot |
| CN104552305A (en) * | 2014-12-21 | 2015-04-29 | 浙江大学 | Magic cube solving device capable of performing three-dimensional simulation |
| CN104552308B (en) * | 2015-01-12 | 2017-04-05 | 北京工业大学 | A kind of magic cube-solving robot of tetragonal symmetry structure |
| CN104552308A (en) * | 2015-01-12 | 2015-04-29 | 北京工业大学 | Magic-cube-solving robot with symmetrical structures in four surfaces |
| CN104959991A (en) * | 2015-07-13 | 2015-10-07 | 南京财经大学 | Education robot for competitions and using method thereof |
| CN105171749A (en) * | 2015-07-13 | 2015-12-23 | 上海交通大学 | Execution module, Rubik's cube reduction robot and using method for robot |
| CN106903696A (en) * | 2017-03-20 | 2017-06-30 | 河南师范大学 | A kind of four axisymmetric magic cube-solving robots |
| CN106903696B (en) * | 2017-03-20 | 2023-05-12 | 河南师范大学 | Four-axis symmetrical magic cube solving robot |
| US10643090B2 (en) | 2017-05-08 | 2020-05-05 | Shanghai Putao Technology Co., Ltd. | Method and device for guiding users to restore Rubik's cube |
| CN107154058A (en) * | 2017-05-08 | 2017-09-12 | 上海葡萄纬度科技有限公司 | A kind of method for guiding user to reduce magic square |
| CN107895512A (en) * | 2017-11-16 | 2018-04-10 | 谢宗奕 | A kind of three rank magic square automatic identifications and voice study course system |
| CN108748151A (en) * | 2018-06-05 | 2018-11-06 | 安徽合动智能科技有限公司 | A kind of finger of both arms two structure magic cube-solving robot |
| CN108544510A (en) * | 2018-06-15 | 2018-09-18 | 天津大学 | A kind of automatic recovery magic square robot mechanical arm |
| CN109176558A (en) * | 2018-10-23 | 2019-01-11 | 西华大学 | A kind of magic square reduction apparatus and magic square robot |
| CN109176558B (en) * | 2018-10-23 | 2023-12-01 | 西华大学 | Magic cube reduction device and magic cube robot |
| CN110815248A (en) * | 2019-10-07 | 2020-02-21 | 华南理工大学 | Magic cube solving robot and magic cube teaching system and method |
| CN110815248B (en) * | 2019-10-07 | 2024-02-20 | 华南理工大学 | Magic cube solving robot and magic cube teaching system and method |
| CN115946134A (en) * | 2022-11-30 | 2023-04-11 | 长春大学 | Magic cube robot is separated to two fork arms based on image processing |
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Application publication date: 20121003 |